Parking Space Determination Method, Electronic Device, Storage Medium and Program Product

Abstract

The present disclosure provides a parking space determination method, apparatus, electronic device, storage medium, and program product. The parking space determination method of the present disclosure includes: obtaining the occupancy cost of a parking space associated with a vehicle entering the parking space for parking; obtaining the parking cost of the parking space; obtaining the driving cost of a heuristic path from a starting point to an ending point during parking, where the starting point is a preset point in the parking space and the ending point is a preset point in the parking space; obtaining the total parking cost of the parking space based on the occupancy cost of the parking space, the parking cost of the parking space, and the driving cost of the heuristic path; and determining the parking space as a target parking space when the total parking cost of the parking space is less than a preset threshold.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and particularly to a method, device, electronic device, storage medium and program product for determining a parking space. Background Art

[0002] With the continuous development of automatic parking technology, the parking experience of users has been gradually improved. As one of the key modules of parking-related technologies, parking space recommendation plays a crucial role in improving the performance of the parking function.

[0003] In the prior art, there are mainly two common solutions for determining a parking space. The first solution is to recommend the parking spaces that are closer to the vehicle according to the distance between the parking space and the vehicle. The second solution is to recommend the parking spaces with high scores according to the scoring results of the path planning of the parking function for the parking space.

[0004] The first solution does not consider the planning result, and the algorithm is simple, which may lead to a large number of parking reversals in the recommended path, not conforming to human driving habits and resulting in poor user experience. The second solution has a more complex planning method, lower calculation efficiency and poor real-time performance. Summary of the Invention

[0005] The present disclosure provides a method, device, electronic device, storage medium and program product for determining a parking space.

[0006] According to one aspect of the present disclosure, there is provided a method for determining a parking space, including:

[0007] Obtaining the occupancy cost of a parking space associated with the vehicle entering the parking space for parking, obtaining the parking cost of the parking space, and obtaining the driving cost of a heuristic path from a starting point to an ending point during parking, where the starting point is a preset point in the parking space and the ending point is a preset point in the parking space;

[0008] Based on the occupancy cost of the parking space, the parking cost of the parking space and the driving cost of the heuristic path, obtaining the total parking cost of the parking space;

[0009] Determining the parking space as a target parking space when the total parking cost of the parking space is less than a preset threshold.

[0010] In an alternative embodiment of the present disclosure, the parking space includes a plurality of cell space regions;

[0011] Obtaining the occupancy cost of a parking space that affects the vehicle entering the parking space for parking includes: obtaining the occupancy status of each cell space region, obtaining the occupancy cost of each cell space region; and determining the occupancy cost of the parking space based on the sum of the products of the occupancy status of each cell space region and the occupancy cost of the cell space region.

[0012] In an alternative embodiment of the present disclosure, obtaining the occupancy status of each cell space region includes: obtaining the occupied area of each cell space region; determining that the cell space region is occupied when the occupied area of the cell space region is greater than a preset area; and determining that the cell space region is not occupied when the occupied area of the cell space region is less than or equal to the preset area.

[0013] In an alternative embodiment of the present disclosure, obtaining the occupancy cost of each cell space region includes: obtaining the difficulty coefficient of parking when each cell space region is occupied; calibrating the occupancy cost of each cell space region based on the magnitude of the difficulty coefficient of parking when each cell space region is occupied, to obtain the occupancy cost of each cell space region.

[0014] In an alternative embodiment of the present disclosure, determining the occupancy cost of the parking space based on the sum of the products of the occupancy status of each cell space region and the occupancy cost of the cell space region includes: determining the occupancy cost of the parking space through the following formula:

[0015]

[0016] where Cost obj represents the occupancy cost of the parking space, c i represents the occupancy status of the i-th cell space region, taking the value of 1 when the cell space region is occupied and taking the value of 0 when the cell space region is not occupied, v i represents the occupancy cost of the i-th cell space region, and n represents the number of cell space regions of the parking space.

[0017] In an alternative embodiment of the present disclosure, obtaining the parking cost of the parking space includes: obtaining the width of the vehicle; obtaining the minimum space distance of the parking space;

[0018] Determining the parking cost of the parking space based on the width of the vehicle and the minimum space distance of the parking space.

[0019] In an alternative embodiment of the present disclosure, the parking space includes: a vehicle space, a first extended region extending to a first side along the width direction of the vehicle space, and a second extended region extending to a second side along the width direction of the parking space.

[0020] Obtaining the minimum spatial distance of the parking space includes: when there are obstacles in both the first extended area and the second extended area, obtaining a first obstacle located in the first extended area and at a distance within a preset distance from the first side of the vehicle space; obtaining a second obstacle located in the second extended area and at a distance within a preset distance from the second side of the vehicle space; and determining the minimum spatial distance of the parking space based on the vertical distance between the first obstacle and the second obstacle.

[0021] In an alternative embodiment of the present disclosure, when there are no obstacles in both the first extended area and the second extended area, the minimum spatial distance of the parking space is determined by the sum of the widths of the first extended area, the vehicle space, and the second extended area.

[0022] In an alternative embodiment of the present disclosure, obtaining the minimum spatial distance of the parking space includes: when there is an obstacle in the first extended area or the second extended area, obtaining a first obstacle located in the first extended area and at a distance within a preset distance from the first side of the vehicle space; or obtaining a second obstacle located in the second extended area and at a distance within a preset distance from the second side of the vehicle space.

[0023] The minimum spatial distance of the parking space is determined based on the sum of the distance between the first obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the second extended area, or based on the sum of the distance between the second obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the first extended area.

[0024] In an alternative embodiment of the present disclosure, obtaining the parking cost of the parking space based on the width of the vehicle and the spatial distance of the parking space includes: obtaining the parking cost of the parking space through the following formula:

[0025] Cost space = e (w-s)

[0026] where Cost space represents the parking cost of the parking space, w represents the width of the vehicle, s represents the spatial distance of the parking space, and e represents the natural constant.

[0027] In an alternative embodiment of the present disclosure, obtaining the driving cost of the heuristic path includes: determining each path included from the starting point to the ending point during parking; obtaining the length of each path; and determining the driving cost of the heuristic path based on the sum of the lengths of each path.

[0028] In an alternative embodiment of the present disclosure, determining the driving cost of the heuristic path based on the sum of the lengths of each path includes: obtaining the driving cost of the heuristic path through the following formula:

[0029]

[0030] where Cost path represents the driving cost of the heuristic path, p i represents the length of the i-th path segment, and n represents the number of paths.

[0031] In an alternative embodiment of the present disclosure, obtaining the total parking cost of a parking space based on the occupancy cost of the parking space, the parking cost of the parking space, and the driving cost of the heuristic path includes: obtaining the total parking cost of the parking space through the following formula:

[0032] Cost = w1·Cost obj + w2·Cost space + w3·Cost path

[0033] where Cost represents the total parking cost of the parking space, w1, w2, and w3 represent weights, Cost obj represents the occupancy cost of the parking space, Cost space represents the parking cost of the parking space, and Cost pat represents the driving cost of the heuristic path.

[0034] According to another aspect of the present disclosure, there is provided an electronic device, including: a memory storing execution instructions; and a processor that executes the execution instructions stored in the memory, such that the processor executes the parking space determination method according to any one of the embodiments of the present disclosure.

[0035] According to still another aspect of the present disclosure, there is further provided a vehicle, which includes the electronic device according to any one of the embodiments of the present disclosure.

[0036] According to yet another aspect of the present disclosure, there is provided a readable storage medium storing execution instructions, and when the execution instructions are executed by a processor, they are used to implement the parking space determination method according to any one of the embodiments of the present disclosure.

[0037] According to yet another aspect of the present disclosure, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the parking space determination method according to any one of the embodiments of the present disclosure. Description of the Drawings

[0038] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in this specification and form a part of this specification.

[0039] Figure 1 Schematic diagram of a parking space and its surrounding area provided for an embodiment of the present disclosure.

[0040] Figure 2 Schematic diagram of a parking space determination method provided for an embodiment of the present disclosure.

[0041] Figure 3 Schematic diagram of the spatial area of a parking space cell provided for an embodiment of the present disclosure.

[0042] Figure 4 Schematic diagram of step S101 of the parking space determination method provided for an embodiment of the present disclosure.

[0043] Figure 5 Schematic diagram of a parking space occupied by an obstacle provided for an embodiment of the present disclosure.

[0044] Figure 6 Schematic diagram of step S102 of the parking space determination method provided for an embodiment of the present disclosure.

[0045] Figure 7 Schematic diagram of a parking space provided for an embodiment of the present disclosure.

[0046] Figure 8 Schematic diagram of the width of a parking space provided for an embodiment of the present disclosure.

[0047] Figure 9 Schematic diagram of step S103 of the parking space determination method provided for an embodiment of the present disclosure.

[0048] Figure 10 Schematic diagram of the heuristic path planning result provided for an embodiment of the present disclosure.

[0049] Figure 11 Structural schematic block diagram of a parking space determination device implemented in hardware using a processor according to an embodiment of the present disclosure. Detailed implementation manners

[0050] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific implementation manners described herein are only used to explain the relevant content and do not limit the present disclosure. Additionally, it should be noted that for the convenience of description, only the parts related to the present disclosure are shown in the drawings.

[0051] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0052] Unless otherwise specified, the exemplary embodiments / examples shown will be understood to provide exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, without departing from the technical concept of the present disclosure, the features of various embodiments / examples may be additionally combined, separated, interchanged, and / or rearranged.

[0053] In the drawings, cross-hatching and / or shading are generally used to make the boundaries between adjacent components clear. Thus, unless stated otherwise, the presence or absence of cross-hatching or shading does not convey or imply any preference or requirement regarding the specific material, material properties, dimensions, proportions, commonality between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the drawings, for clarity and / or descriptive purposes, the dimensions and relative dimensions of components may be exaggerated. When the exemplary embodiments can be implemented differently, the specific process order may be performed in an order different from that described. For example, two consecutively described processes may be performed substantially simultaneously or in an order opposite to that described. Further, the same reference numerals denote the same components.

[0054] When a component is referred to as being "on" or "above" another component, "connected to" or "coupled to" another component, the component may be directly on the other component, directly connected to or directly coupled to the other component, or there may be an intermediate component. However, when a component is referred to as being "directly on" another component, "directly connected to" or "directly coupled to" another component, there is no intermediate component. For this reason, the term "connected" may refer to a physical connection, an electrical connection, etc., and may or may not have an intermediate component.

[0055] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. Additionally, when the terms "comprising" and / or "including" and their variants are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies, and / or groups thereof, but it does not exclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or groups thereof. It should also be noted that, as used herein, the terms "substantially", "about", and other similar terms are used as approximate terms and not as terms of degree, so they are used to explain the inherent deviations of measured values, calculated values, and / or provided values that would be recognized by those of ordinary skill in the art.

[0056] With the continuous development of automatic parking technology, the parking experience of users has been gradually improved. As one of the key modules of parking-related technologies, parking space recommendation plays a crucial role in improving the performance of parking functions.

[0057] In the prior art, there are mainly two common parking space recommendation schemes. Scheme one is to recommend the parking spaces that are closer to the vehicle according to the distance between the parking space and the vehicle; Scheme two is to recommend the parking spaces with high scores according to the scoring of the path planning results of the parking function for the parking spaces.

[0058] Scheme one does not consider the planning results, has a simple algorithm, may lead to many parking reversals in the recommended path, does not conform to human driving habits, and has a poor user experience. The planning method of scheme two is relatively complex, with low computational efficiency and poor real-time performance.

[0059] In view of this, the present disclosure provides a parking space determination method, device, electronic device, storage medium, and program product. The parking space determination method provided by the present disclosure can be used in a parking space recommendation module with a parking function. For example, the parking space recommendation module in automatic parking, memory parking, and valet parking, etc. The surrounding environment information of the vehicle in the present disclosure can be sourced from an in-vehicle environment perception module, and the elements that the environment perception module can perceive include but are not limited to vehicles, cones, and pillars, etc.

[0060] The following combines Figures 1 to 11 to elaborate in detail on the parking space determination method, parking space determination device, etc. of the present disclosure.

[0061] In the present disclosure, the parking space can be understood as a spatial area related to the vehicle entering the parking space for parking, or it can also be understood as a spatial area that affects the vehicle entering the parking space for parking. Please refer to Figure 1 , Figure 1The area formed between points P1, P2, P3, and P4 in [description] can be regarded as the vehicle space provided by the present disclosure. That is, the size of this vehicle space can be the same as the size of the vehicle itself. The parking space includes the vehicle space and a first extended area extending from the vehicle space to the first side, and a second extended area extending from the vehicle space to the second side. The area extending from the entrance of the vehicle space (between P1 and P4) to both sides and the front can be regarded as the parking space provided by the present disclosure. For example Figure 1 In [description], the width of the parking space is h, and the length is l1 + |P2 - P3| + l2 or l1 + |P1 - P4| + l2.

[0062] The occupancy cost of the parking space described below in the present disclosure may include the time cost and / or additional operation costs (such as the number of gear shifts, etc.) brought to parking based on multiple factors such as the occupancy of other vehicles or obstacles in the parking space. The parking cost of the parking space may include the time cost and / or additional operation costs brought to parking based on multiple factors such as the size of the parking space. The driving cost of the heuristic path may include the time cost and / or additional operation costs brought to parking based on multiple factors such as the number of paths included in the heuristic path and the length of each path during the process of driving from the parking space to the parking space.

[0063] Please refer to Figure 2 , the present disclosure provides a method for determining a parking space. The method M100 for determining a parking space includes:

[0064] S101. Obtain the occupancy cost of the parking space associated with the vehicle entering the parking space for parking, obtain the parking cost of the parking space, and obtain the driving cost of the heuristic path from the starting point to the ending point during parking, where the starting point is a preset point in the parking space and the ending point is a preset point in the parking space.

[0065] S102. Obtain the total parking cost of the parking space based on the occupancy cost of the parking space, the parking cost of the parking space, and the driving cost of the heuristic path.

[0066] S103. Determine the parking space as the target parking space when the total parking cost of the parking space is less than a preset threshold.

[0067] The method for determining a parking space provided by the present disclosure is based on obtaining the occupancy cost of the parking space associated with the vehicle entering the parking space for parking, considering the surrounding environment of parking (the parking space), improving the success rate of parking. Based on obtaining the driving cost of the heuristic path from the starting point to the ending point during parking, taking into account the driving habits of the user during the parking process, improving the user experience, and taking into account the parking efficiency, it has high applicability.

[0068] S101. Obtain the occupancy cost of the parking space associated with the vehicle entering the parking space for parking.

[0069] In an alternative embodiment of the present disclosure, the parking space includes a plurality of cell space regions.

[0070] Exemplarily, the present disclosure can divide the parking space into a plurality of cell space regions. Refer to Figure 3 , Figure 3 wherein the present disclosure divides the parking space into a plurality of cell space regions and represents each cell region with letters a - h.

[0071] Please refer to Figure 4 , step S101: Obtain the occupancy cost of the parking space that affects the vehicle entering the parking space for parking, including: step S1011 and step S1012.

[0072] Step S1011: Obtain the occupancy status of each cell space region and obtain the occupancy cost of each cell space region.

[0073] Step S1012: Determine the occupancy cost of the parking space based on the sum of the products of the occupancy status of each cell space region and the occupancy cost of the cell space region.

[0074] In an alternative embodiment of the present disclosure, step S1011: Obtain the occupancy status of each cell space region, including: obtaining the occupied area of each cell space region. When the occupied area of the cell space region is greater than the preset area, it is determined that the cell space region is occupied; when the occupied area of the cell space region is less than or equal to the preset area, it is determined that the cell space region is not occupied.

[0075] Please refer to Figure 5 , Figure 5 wherein black dots and black squares represent obstacles, and gray indicates that the cell space region is occupied. It can be seen from Figure 5 that some cell space regions may be partially occupied and some cell space regions may be fully occupied. The present disclosure determines that the cell space region is occupied when the occupied area of the cell space region is greater than the preset area; and determines that the cell space region is not occupied when the occupied area of the cell space region is less than or equal to the preset area. Exemplarily, when the occupied area of the cell space region is greater than 1 / 3 of the area of the cell space region, it is determined that the cell space region is occupied; when the occupied area of the cell space region is less than or equal to 1 / 3 of the area of the cell space region, it is determined that the cell space region is not occupied.

[0076] In an alternative embodiment of the present disclosure, step S1011, obtaining the occupancy cost of each cell space region, includes: obtaining the difficulty coefficient of parking when each cell space region is occupied; calibrating the occupancy cost of each cell space region based on the magnitude of the difficulty coefficient of parking when each cell space region is occupied, to obtain the occupancy cost of each cell space region.

[0077] Continue to refer to Figure 3 , Figure 3 The region formed by the midpoints P1, P2, P3, and P4 can be regarded as the space occupied by the vehicle body, that is, the vehicle space. The width of the vehicle space is |P2 - P3| or |P1 - P4|, and the length is |P1 - P2| or |P4 - P3|. The length of the parking space is the sum of the area of the vehicle space region and the area of the surrounding region, that is Figure 2 l1 + |P2 - P3| + l2 or l1 + |P1 - P4| + l2 in , and the width is h. It should be noted that in this embodiment, the lengths of l1 and l2 can be the same or different. The length and width of the parking space in the present disclosure can be determined according to the surrounding environment of the parking space during actual parking, and the present disclosure does not limit the size of the parking space to this.

[0078] The present disclosure can artificially calibrate the difficulty coefficient of parking when each cell space region is occupied based on the empirical value of the impact of each cell space region on parking during parking. For example Figure 2 if the difficulty coefficient of parking when the a cell space region is occupied is 10, then the occupancy cost of the a cell space region is calibrated to 10. If the difficulty coefficient of parking when the b cell space region is occupied is 9, then the occupancy cost of the b cell space region is calibrated to 9. Figure 3 The occupancy costs of each cell space region in can be seen in Table 1 shown.

[0079] Table 1

[0080] Mark Cost a 10 b 9 C 9 d. 7 e. 5 f 5 g 4 h 3

[0081] Furthermore, the present disclosure determines the difficulty coefficient of parking when each cell space region is occupied by obtaining the distance between each cell space region and the parking space, based on the distance between each cell space region and the parking space. Exemplarily, the a cell space region is closer to the parking space. When the a cell space is occupied, the difficulty of parking the vehicle into the parking space will increase, that is, the number of operations or the time cost of parking the vehicle into the parking space will increase. Therefore, the difficulty coefficient of parking when it is occupied will increase, and the corresponding occupancy cost of the a cell space region will also increase accordingly.

[0082] In an alternative embodiment of the present disclosure, determining the occupancy cost of the parking space based on the sum of the products of the occupancy status of each cell space region and the occupancy cost of the cell space region includes: determining the occupancy cost of the parking space through the following formula:

[0083]

[0084] where Cost obj represents the occupancy cost of the parking space, c i represents the occupancy status of the i-th cell space region, taking the value of 1 when the cell space region is occupied and 0 when the cell space region is not occupied, and v i represents the occupancy cost of the i-th cell space region, and n represents the number of cell space regions of the parking space.

[0085] Exemplarily, in the case where the occupied area of the cell space region is greater than 1 / 3 of the area of the cell space region, it is determined that the cell space region is occupied, and c i takes the value of 1; in the case where the occupied area of the cell space region is less than or equal to 1 / 3 of the area of the cell space region, it is determined that the cell space region is not occupied, and c i takes the value of 0.

[0086] Please refer to Figure 6 , in an alternative embodiment of the present disclosure, S101, obtaining the parking cost of the parking space, includes: step S1013, step S1014, and step S1015.

[0087] Step S1013, obtaining the width of the vehicle.

[0088] The width of the vehicle can be obtained by a radar sensor installed on the vehicle. The present disclosure is not limited to this method for obtaining the width of the vehicle.

[0089] Step S1014, obtaining the minimum space distance of the parking space.

[0090] Step S1015, determining the parking cost of the parking space based on the width of the vehicle and the minimum space distance of the parking space.

[0091] In the present disclosure, the length of the space distance of the parking space can be regarded as the length of the vehicle. The length of the vehicle can be obtained by built-in sensors of the vehicle (such as radar sensors or infrared sensors, etc.). The present disclosure is not limited to the form of the sensors.

[0092] In an alternative embodiment of the present disclosure, the parking space includes: a vehicle space, a first extended region extending to the first side along the width direction of the vehicle space, and a second extended region extending to the second side along the width direction of the parking space.

[0093] Please refer to Figure 7 , Figure 7 The area formed by the midpoints P1, P2, P3, and P4 can be regarded as the vehicle space of the present disclosure. The first extended area extending from point P2 to the first side and the second extended area extending from point P3 to the second side, where the widths of both the first extended area and the second side extension are d, that is Figure 7 The width of the parking space in Figure 7 includes the first extended area, the second extended area, and the vehicle space, that is, the width of the parking space can be expressed as

[0094] In an alternative embodiment of the present disclosure, obtaining the minimum spatial distance of the parking space includes: when there are obstacles in both the first extended area and the second extended area, obtaining a first obstacle located in the first extended area and at a distance within a preset distance from the first side of the vehicle space; obtaining a second obstacle located in the second extended area and at a distance within a preset distance from the second side of the vehicle space; and determining the minimum spatial distance of the parking space based on the vertical distance between the first obstacle and the second obstacle, that is, taking the vertical distance between the first obstacle and the second obstacle as the width of the parking space and taking the vehicle length as the width of the parking space.

[0095] Furthermore, in the present disclosure, the vertical distance between the first obstacle and the second obstacle includes the vertical distance between the vertical tangent of the first obstacle close to the first side of the vehicle space and the vertical tangent of the second obstacle close to the second side of the vehicle space.

[0096] When there are no obstacles in both the first extended area and the second extended area, the minimum spatial distance of the parking space is determined by the sum of the widths of the first extended area, the vehicle space, and the second extended area, that is, taking the sum of the widths of the first extended area, the vehicle space, and the second extended area as the width of the parking space.

[0097] When there is an obstacle in the first extended area or the second extended area, obtain a first obstacle located in the first extended area and at a distance within a preset distance from the first side of the vehicle space; or, obtain a second obstacle located in the second extended area and at a distance within a preset distance from the second side of the vehicle space.

[0098] Determine the minimum space distance of the parking space based on the sum of the distance between the first obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the second extended area, that is, take the sum of the distance between the first obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the second extended area as the width of the parking space.

[0099] Alternatively, determine the minimum space distance of the parking space based on the sum of the distance between the second obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the first extended area, that is, take the sum of the distance between the second obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the first extended area as the... of the parking space.

[0100] Further, in the present disclosure, the distance between the first obstacle and the vehicle space includes the vertical distance between the vertical tangent of the first obstacle close to the first side of the vehicle space and the vehicle space. The distance between the second obstacle and the vehicle space includes the vertical distance between the vertical tangent of the second obstacle close to the second side of the vehicle space and the vehicle space.

[0101] Please refer to Figure 8 , in Figure 8 , the area formed by points P1, P2, P3, and P4 can be regarded as the vehicle space of the present disclosure. The black triangles represent obstacles. There is an obstacle (the first obstacle) in the first extended area on the left side (the first side of the vehicle space) of points P1 and P2. The present disclosure obtains, through sensors (such as radar sensors, infrared sensors, etc.) provided on the vehicle, the first obstacle located in the first extended area and within a preset distance from the first side of the vehicle space ( Figure 8 the left side of points P1 and P2 in Figure 8 There is no obstacle in the second extended area in

[0102] In an alternative embodiment of the present disclosure, obtain the parking cost of the parking space based on the vehicle width and the space distance of the parking space, including: obtain the parking cost of the parking space through the following formula:

[0103] Cost space =e (w-s)

[0104] wherein, Cost space represents the parking cost of the parking space, w represents the vehicle width, s represents the space distance of the parking space, and e represents the natural constant.

[0105] Please refer to Figure 9, in an alternative embodiment of the present disclosure, step S101, obtaining the driving cost of the heuristic path, includes: step S1016, step S1017, and step S1018.

[0106] Step S1016, determining each path included from the starting point to the ending point during parking.

[0107] Step S1017, obtaining the length of each path.

[0108] Step S1018, determining the driving cost of the heuristic path based on the sum of the lengths of each path.

[0109] Please refer to Figure 10 , when driving the vehicle from the parking space to the parking space within the parking space, that is, when parking from the starting point to the ending point, multiple paths need to be passed through, and the lengths of each path are different. The driving time, cost, etc. of each path during parking are also different, that is, different paths have different driving costs. The present disclosure determines the driving cost of the heuristic path based on the sum of the lengths of each path. It should be noted that in the present disclosure, the smaller the driving cost of the heuristic path, the easier it is to park through this heuristic path. On the contrary, the larger the driving cost of the heuristic path, the more difficult it is to park through this heuristic path.

[0110] In an alternative embodiment of the present disclosure, determining the driving cost of the heuristic path based on the sum of the lengths of each path includes: obtaining the driving cost of the heuristic path through the following formula:

[0111]

[0112] Among them, Cost path represents the driving cost of the heuristic path, p i represents the length of the i-th path, and n represents the number of paths.

[0113] The heuristic path in the present disclosure can be planned using a ReedsShepp planner. Exemplarily, the starting coordinates of the vehicle are (x, y, θ) = (-2, 8, 0), and the ending coordinates are (x, y, θ) = (1.5, 1, 1.57). The minimum radius of the curve of the heuristic path is equal to 5. The curve of the heuristic path obtained using the ReedsShepp planner is as Figure 10 shown. Among them, the minimum radius of the curve of the heuristic path is related to the minimum turning radius of the vehicle. The minimum radius of the curve of the heuristic path can be calibrated to be 0.6 - 0.95 times the minimum turning radius of the vehicle.

[0114] In an alternative embodiment of the present disclosure, step S102, obtaining the total parking cost of the parking space based on the occupancy cost of the parking space, the parking cost of the parking space, and the driving cost of the heuristic path, includes: obtaining the total parking cost of the parking space through the following formula:

[0115] Cost = w1·Cost obj + w2·Cost space + w3·Cost path

[0116] Wherein, Cost represents the total parking cost of the parking space, w1, w2, w3 represent weights, and Cost obj represents the occupancy cost of the parking space, and Cost space represents the parking cost of the parking space, and Cost pat represents the driving cost of the heuristic path. Among them, w1, w2, w3 can be determined by experimental tests according to specific application scenarios, and the present disclosure does not limit the specific values of w1, w2, w3.

[0117] S103. Determine the parking space as the target parking space when the total parking cost of the parking space is less than the preset threshold.

[0118] Furthermore, in the present disclosure, by obtaining the total parking costs of multiple parking spaces, the total parking costs of multiple parking spaces can be sorted in ascending or descending order, and the parking space with the smallest total parking cost among multiple parking spaces can be used as the target parking space, that is, the target parking space is recommended to the vehicle controller for the user to select. The preset threshold in the present disclosure may include the minimum value of the parking costs among multiple parking spaces, and the specific value of the preset threshold can be determined according to the magnitudes of the total parking costs of multiple parking spaces. The present disclosure does not limit the magnitude of the preset threshold.

[0119] In addition, in the present disclosure, when the vehicle is traveling at a low speed, if the vehicle controller detects multiple parking spaces in the environment, the vehicle controller defaults to display the search results of multiple parking spaces on the screen of the vehicle (such as the car machine). When the vehicle is stationary, a parking space will be recommended to the user on the car machine. If the user directly clicks the start parking function, the parking space recommended by the car machine will be used as the target parking space. If the user selects other parking spaces, the selected parking space by the user will be used as the target parking space.

[0120] Reference Figure 11 , according to an embodiment of the present disclosure, the parking space determination device 1000 of the present disclosure includes:

[0121] A cost acquisition module 1002, configured to obtain the occupancy cost of the parking space associated with the vehicle entering the parking space for parking, obtain the parking cost of the parking space, and obtain the driving cost of the heuristic path from the starting point to the ending point during parking, where the starting point is a preset point in the parking space and the ending point is a preset point in the parking space.

[0122] The total parking cost acquisition module 1004 is configured to obtain the total parking cost of a parking space based on the occupancy cost of the parking space, the parking cost of the parking space, and the driving cost of the heuristic path.

[0123] The target parking space determination module 1006 is configured to determine the parking space as the target parking space when the total parking cost of the parking space is less than a preset threshold.

[0124] The present disclosure also provides an electronic device, including: a memory storing execution instructions; and a processor that executes the execution instructions stored in the memory, such that the processor executes the parking space determination method according to any one of the present disclosure.

[0125] The present disclosure also provides a vehicle, where the vehicle includes the electronic device according to any one of the embodiments of the present disclosure.

[0126] The present disclosure also provides a readable storage medium storing execution instructions, where the execution instructions, when executed by a processor, are used to implement the parking space determination method according to any one of the embodiments of the present disclosure.

[0127] The present disclosure also provides a computer program product, including a computer program, where the computer program, when executed by a processor, implements the parking space determination method according to any one of the embodiments of the present disclosure.

[0128] Figure 11 It is a structural schematic diagram of a parking space determination device implemented in hardware using a processor according to an embodiment of the present disclosure.

[0129] The parking space determination device may include corresponding modules that execute each or several steps in the above flowchart. Therefore, each step or several steps in the above flowchart may be executed by the corresponding modules, and the device may include one or more of these modules. The modules may be one or more hardware modules specifically configured to execute the corresponding steps, or implemented by a processor configured to execute the corresponding steps, or stored in a computer-readable medium for implementation by a processor, or implemented through a certain combination.

[0130] The hardware structure of the parking space determination device of the present disclosure may be implemented using a bus architecture. The bus architecture may include any number of interconnecting buses and bridges, depending on the specific application of the hardware and overall design constraints. The bus 1100 connects various circuits including one or more processors 1200, a memory 1300, and / or hardware modules together. The bus 1100 may also connect various other circuits 1400 such as peripheral devices, voltage regulators, power management circuits, external antennas, etc.

[0131] The bus 1100 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity in representation, only one connecting line is used in this figure, but it does not mean that there is only one bus or one type of bus.

[0132] Any process or method description represented in the flowchart or described in other ways herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present disclosure includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed. This should be understood by those skilled in the art to which the embodiments of the present disclosure pertain. The processor executes the various methods and processes described above. For example, the method embodiments in the present disclosure can be implemented as software programs that are tangibly embodied in a machine-readable medium, such as a memory. In some embodiments, part or all of the software program can be loaded and / or installed via the memory and / or a communication interface. When the software program is loaded into the memory and executed by the processor, one or more steps of the methods described above can be executed. Alternatively, in other embodiments, the processor can be configured to execute one of the above methods by any other suitable means (e.g., by means of firmware).

[0133] The logic and / or steps represented in the flowchart or described in other ways herein can be specifically implemented in any readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with such instruction execution systems, apparatus, or devices.

[0134] For the purposes of this specification, a "readable storage medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the readable storage medium include the following: an electrical connection (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the readable storage medium can even be paper or other suitable medium on which a program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing it as appropriate, and then storing it in a memory.

[0135] It should be understood that various parts of the present disclosure can be implemented by hardware, software, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well-known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0136] Those of ordinary skill in the art of the present technology can understand that all or part of the steps for implementing the above-described embodiments of the method can be completed by a program instructing relevant hardware, and the program can be stored in a readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0137] Furthermore, in each of the various embodiments of the present disclosure, the functional units can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. The storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0138] Those skilled in the art should understand that the above-described embodiments are merely for clearly illustrating the present disclosure and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or variations can be made based on the above disclosure, and these changes or variations are still within the scope of the present disclosure.

Claims

1. A method for determining a parking space, characterized in that, Including: Obtain the occupancy cost of the parking space associated with the vehicle entering the parking space for parking, obtain the parking cost of the parking space, and obtain the driving cost of the heuristic path from the starting point to the ending point during parking, where the starting point is a preset point in the parking space and the ending point is a preset point in the parking space; The total parking cost of a parking space is obtained based on the occupancy cost of the parking space, the parking cost of the parking space, and the driving cost of the heuristic path, including obtaining the total parking cost of the parking space through the following formula: Cost = w1·Cost obj + w2·Cost space + w3·Cost path ; Among them, Cost represents the total parking cost of a parking space, w1, w2, w3 represent weights, Cost obj represents the occupancy cost of the parking space, Cost space represents the parking cost of the parking space, Cost path represents the driving cost of the heuristic path; and Determine the parking space as the target parking space when the total parking cost of the parking space is less than a preset threshold; The parking space includes a plurality of cell space regions; Obtain the occupancy cost of the parking space that affects the vehicle entering the parking space for parking, including: obtaining the occupancy status of each cell space region, and obtaining the occupancy cost of each cell space region; determining the occupancy cost of the parking space based on the sum of the products of the occupancy status of each cell space region and the occupancy cost of the cell space region; Obtain the parking cost of the parking space, including: obtaining the width of the vehicle; obtaining the minimum space distance of the parking space; determining the parking cost of the parking space based on the width of the vehicle and the minimum space distance of the parking space; Obtain the driving cost of the heuristic path, including: determining each path included from the starting point to the ending point during parking; obtaining the length of each path; determining the driving cost of the heuristic path based on the sum of the lengths of each path.

2. The parking space determination method according to claim 1, wherein The parking space includes: a vehicle space, a first extended region extending to the first side along the width direction of the vehicle space, and a second extended region extending to the second side along the width direction of the parking space; The obtaining of the minimum space distance of the parking space includes: When there are obstacles in both the first extended region and the second extended region, obtain a first obstacle located in the first extended region and at a distance within a preset distance from the first side of the vehicle space; obtain a second obstacle located in the second extended region and at a distance within a preset distance from the second side of the vehicle space; and Determine the minimum space distance of the parking space based on the vertical distance between the first obstacle and the second obstacle.

3. The parking space determination method according to claim 2, wherein The obtaining of the minimum space distance of the parking space includes: When there are no obstacles in both the first extended region and the second extended region, determine the minimum space distance of the parking space as the sum of the widths of the first extended region, the vehicle space, and the second extended region.

4. The parking space determination method according to claim 3, wherein, The obtaining of the minimum space distance of the parking space includes: When there is an obstacle in either the first extended region or the second extended region, obtain a first obstacle located in the first extended region and at a distance within a preset distance from the first side of the vehicle space; or, obtain a second obstacle located in the second extended region and at a distance within a preset distance from the second side of the vehicle space; Determine the minimum space distance of the parking space based on the sum of the distance between the first obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the second extended region, or Determine the minimum space distance of the parking space based on the sum of the distance between the second obstacle and the vehicle space, the vehicle width, and the distance between the vehicle space and the first extended region.

5. An electronic device, characterized in that, Including: A memory that stores execution instructions; And A processor that executes execution instructions stored in the memory, such that the processor executes the parking space determination method according to any one of claims 1 to 4.

6. A vehicle, characterized in that, The vehicle includes an electronic device according to claim 5.

7. A readable storage medium, characterized in that, Execution instructions are stored in the readable storage medium, and when the execution instructions are executed by a processor, they are used to implement the parking space determination method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the parking space determination method according to any one of claims 1 to 4.

Images