A method, device, and storage medium for identifying parking spaces.

Abstract

This invention proposes a parking space identification method, device, and storage medium. By acquiring the reference point of a target reference vehicle, the vehicle body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle are obtained based on the reference point. Based on the position information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, parking space identification is performed based on a fuzzy rule base. This enables the identification of irregular parking spaces and improves the accuracy and reliability of parking space identification.

Description

Technical Field

[0001] This invention belongs to the field of vehicle-related technology, and in particular relates to a parking space identification method, device and storage medium. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of modern autonomous driving technology, automatic parking systems are becoming increasingly widely used in the automotive industry. Key technologies for automatic parking systems mainly include parking space recognition and path planning. Parking space recognition technology refers to the vehicle's sensor system detecting the lateral and depth parameters of the parking space during the search for an available space to determine if the space meets the vehicle's parking needs. Currently, automatic parking systems are relatively adept at recognizing parking spaces with regular lines and spaces (such as parallel, perpendicular, and angled spaces). However, recognizing irregular parking spaces created by obstacles around the space is more challenging. In reality, different drivers have different parking styles and habits, and congested streets with numerous obstacles result in varying parking postures, making irregular parking spaces very common in everyday parking environments.

[0004] Due to environmental and human factors, irregular parking spaces frequently occur in real life, which would lead to a waste of space resources if left unused. In environments without parking lines, the boundaries of irregular parking spaces are blurred and the situation is complex, making it difficult for existing parking space recognition technologies to accurately identify complex irregular parking spaces. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a parking space identification method, device and storage medium, which can identify irregular parking spaces and improve the accuracy and reliability of parking space identification.

[0006] The technical solution is as follows:

[0007] The first aspect provides a method for identifying parking spaces, including:

[0008] During the driving process, the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle is determined in a plane coordinate system. The plane coordinate system is a coordinate system established with the driving direction of the vehicle as the horizontal axis and the left side of the driving direction as the vertical axis.

[0009] Based on the location information of the reference point, determine the vehicle body attitude angle of the target reference vehicle, as well as the spatial parameters of the space to be identified adjacent to the target reference vehicle;

[0010] Based on the location information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, the parking space identification type of the space to be identified is determined based on a preset fuzzy rule base, so as to complete the parking space identification.

[0011] In some embodiments, determining the position information of the reference point of the target reference vehicle located in the driving direction in the plane coordinate system includes: when the target reference vehicle includes a first reference vehicle and a second reference vehicle, determining the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system, wherein the first reference vehicle is the first vehicle that the vehicle passes when traveling in the driving direction, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the driving direction;

[0012] The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle.

[0013] The fourth reference point, the fifth reference point, and the sixth reference point are three frame points located on the left, right, front, and rear of the second reference vehicle.

[0014] In some embodiments, the vehicle attitude angle of the target reference vehicle is determined based on the position information of the reference point, specifically as follows:

[0015] The body attitude angle of the second reference vehicle is determined based on the arctangent of the ratio of the difference in the ordinates of the first reference point and the second reference point to the difference in the abscissas of the first reference point and the second reference point.

[0016] Calculate the arctangent of the ratio of the vertical coordinate difference between the fourth reference point and the fifth reference point to the horizontal coordinate difference between the fourth reference point and the fifth reference point. Based on the sum of the arctangent and 90°, determine the body attitude angle of the first reference vehicle.

[0017] In some embodiments, spatial parameters of the space to be identified adjacent to the target reference vehicle are determined based on the location information of the reference point, specifically:

[0018] The first shortest distance between the first reference vehicle and the second reference vehicle is calculated based on the perpendicular distance of the line segment formed by the left extreme point of the first reference vehicle (i.e., the first reference point) and the right frame point of the second reference vehicle (i.e., the fifth reference point and the sixth reference point).

[0019] The second shortest distance between the two reference vehicles is calculated based on the perpendicular distance between the right limit point of the second reference vehicle (i.e., the fifth reference point) and the left frame point of the first reference vehicle (i.e., the first reference point and the second reference point).

[0020] Based on the first shortest distance and the second shortest distance, determine the shortest spatial distance between the first reference vehicle and the second reference vehicle;

[0021] The shortest horizontal distance between the first reference vehicle and the second reference vehicle is calculated based on the horizontal distance between the left extreme point (first reference point) of the first reference vehicle and the right extreme point (fifth reference point) of the second reference vehicle.

[0022] In some embodiments, the calculation of the first shortest distance and the second shortest distance is specifically as follows:

[0023] The first shortest distance is calculated based on the horizontal and vertical coordinates of the first reference point, the horizontal and vertical coordinates of the fifth reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

[0024] The second shortest distance is calculated based on the horizontal and vertical coordinates of the fifth reference point, the horizontal and vertical coordinates of the third reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

[0025] In some embodiments, the body attitude angle of the first reference vehicle, the body attitude angle of the second reference vehicle, the shortest horizontal distance between the first reference vehicle and the second reference vehicle, and the shortest spatial distance between the first reference vehicle and the second reference vehicle are used as input variables for fuzzy rules, and the parking space type is used as the output variable for fuzzy rules; the parking space type includes horizontal parking space, vertical parking space, irregular parking space, and no parking space.

[0026] In some embodiments, the fuzzy subsets constructed from the body attitude angles of the first reference vehicle, the body attitude angles of the second reference vehicle, and the horizontal shortest distance between the first reference vehicle and the second reference vehicle are all {small, medium, large}; the fuzzy subsets constructed from the spatial shortest distance between the first reference vehicle and the second reference vehicle are {small, large}.

[0027] The second aspect provides a parking space recognition system, including:

[0028] The first determining module is used to determine the position information of the reference point of the target reference vehicle located in the vehicle's driving direction in a plane coordinate system during the driving process. The plane coordinate system is a coordinate system established with the vehicle's driving direction as the horizontal axis and the left side of the driving direction as the vertical axis.

[0029] The second determining module is used to determine the vehicle body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle based on the position information of the reference point.

[0030] The third determining module is used to determine the parking space recognition type of the space to be recognized based on the position information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be recognized, and based on a preset fuzzy rule library, so as to complete the parking space recognition.

[0031] In some embodiments, the first determining module is used to determine the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system when the target reference vehicle includes a first reference vehicle and a second reference vehicle, wherein the first reference vehicle is the first vehicle that the vehicle passes when traveling in the driving direction, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the driving direction;

[0032] The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle.

[0033] The fourth reference point, the fifth reference point, and the sixth reference point are three frame points located on the left, right, front, and rear of the second reference vehicle.

[0034] A third aspect provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs a parking space identification method.

[0035] The above one or more technical solutions have the following beneficial effects:

[0036] In this invention, by obtaining the reference point of the target reference vehicle, the vehicle body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle are obtained based on the reference point. Based on the position information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, parking space identification is performed based on a fuzzy rule base, which can realize the identification of irregular parking spaces and improve the accuracy and reliability of parking space identification.

[0037] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0039] Figure 1 This is a flowchart of a parking space recognition method provided in an embodiment of the present invention;

[0040] Figure 2 This invention provides a schematic diagram of an irregular parking space.

[0041] Figure 3 This is a schematic diagram of parking space search provided in an embodiment of the present invention;

[0042] Figure 4 An attitude diagram of a first reference vehicle provided for an embodiment of the present invention;

[0043] Figure 5 An attitude diagram of a second reference vehicle provided for an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of a parking space model provided in an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the parking space recognition device provided in an embodiment of the present invention. Detailed Implementation

[0046] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0047] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0048] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0049] Before providing a detailed explanation of the parking space identification method provided in the embodiments of this application, the application scenarios provided in the embodiments of this application will be introduced first.

[0050] Currently, drivers can use automatic parking systems in their cars, which typically rely on cameras to identify parking spaces. For spaces with parking lines, cameras can effectively identify available spaces. However, in reality, different drivers have different parking styles and habits, and congested streets with numerous obstacles result in varying parking postures, making irregular parking spaces very common in daily parking environments. Due to environmental and human factors, irregular parking spaces frequently occur in real life, leading to a waste of space resources if not utilized. In environments without parking lines, the boundaries of irregular parking spaces are blurred, creating complex situations, and existing parking space recognition technologies are largely unable to accurately identify complex irregular parking space types.

[0051] Based on this scenario, this application provides a parking space recognition method that can improve the recognition of irregular parking spaces.

[0052] The parking space identification method provided in the embodiments of this application will now be explained in detail with reference to the accompanying drawings.

[0053] Figure 1 This is a flowchart illustrating a parking space identification method provided in an embodiment of this application, which is applied to automobiles. Please refer to... Figure 1 The method includes the following steps.

[0054] Step 1: During the driving process, determine the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle in the plane coordinate system. The plane coordinate system is a coordinate system established with the driving direction of the vehicle as the horizontal axis and the left side of the driving direction as the vertical axis.

[0055] Step 2: Based on the position information of the reference point, determine the vehicle body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle;

[0056] Step 3: Based on the location information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, determine the parking space identification type of the space to be identified based on a preset fuzzy rule library to complete the parking space identification.

[0057] This application obtains the reference point of the target reference vehicle, and obtains the vehicle body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle based on the reference point; it identifies parking spaces by using fuzzy rules, and can achieve accurate identification of irregular parking spaces.

[0058] In some embodiments, determining the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle in the plane coordinate system includes: when the target reference vehicle includes a first reference vehicle and a second reference vehicle, determining the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system, wherein the first reference vehicle is the first vehicle that the vehicle passes when traveling in the driving direction, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the driving direction;

[0059] The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle.

[0060] The fourth, fifth, and sixth reference points are three frame points located on the left, right, front, and rear of the second reference vehicle.

[0061] In some embodiments, the vehicle attitude angle of the target reference vehicle is determined based on the position information of the reference point, specifically as follows:

[0062] The body attitude angle of the second reference vehicle is determined based on the arctangent of the ratio of the difference in the vertical coordinates of the first reference point and the second reference point to the difference in the horizontal coordinates of the first reference point and the second reference point.

[0063] Calculate the arctangent of the ratio of the difference in ordinate between the fourth and fifth reference points to the difference in abscissa between the fourth and fifth reference points. Based on the sum of the arctangent and 90°, determine the body attitude angle of the first reference vehicle.

[0064] In some embodiments, spatial parameters of the space to be identified adjacent to the target reference vehicle are determined based on the location information of the reference point, specifically:

[0065] The first shortest distance between the first reference vehicle and the second reference vehicle is calculated based on the perpendicular distance of the line segment formed by the left extreme point of the first reference vehicle (i.e., the first reference point) and the right frame point of the second reference vehicle (i.e., the fifth and sixth reference points).

[0066] The second shortest distance between the two reference vehicles is calculated based on the perpendicular distance of the line segment formed by the right limit point of the second reference vehicle (i.e., the fifth reference point) and the left frame point of the first reference vehicle (i.e., the first reference point and the second reference point).

[0067] Based on the first shortest distance and the second shortest distance, determine the shortest spatial distance between the first reference vehicle and the second reference vehicle;

[0068] Calculate the shortest horizontal distance between the first reference vehicle and the second reference vehicle based on the horizontal distance between the left extreme point of the first reference vehicle (i.e., the first reference point) and the right extreme point of the second reference vehicle (i.e., the fifth reference point).

[0069] In some embodiments, the calculation of the first shortest distance and the second shortest distance is specifically as follows:

[0070] The first shortest distance is calculated based on the horizontal and vertical coordinates of the first reference point, the horizontal and vertical coordinates of the fifth reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

[0071] The second shortest distance is calculated based on the horizontal and vertical coordinates of the fifth reference point, the horizontal and vertical coordinates of the third reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

[0072] In some embodiments, the body attitude angle of the first reference vehicle, the body attitude angle of the second reference vehicle, the shortest horizontal distance between the first reference vehicle and the second reference vehicle, and the shortest spatial distance between the first reference vehicle and the second reference vehicle are used as input variables for the fuzzy rule, and the parking space type is used as the output variable for the fuzzy rule; the parking space type includes horizontal parking space, vertical parking space, irregular parking space, and no parking space.

[0073] In some embodiments, the fuzzy subsets constructed from the body attitude angles of the first reference vehicle, the body attitude angles of the second reference vehicle, and the horizontal shortest distances between the first and second reference vehicles are all {small, medium, large}; the fuzzy subsets constructed from the spatial shortest distances between the first and second reference vehicles are {small, large}.

[0074] Step 101: During the driving process, determine the position information of the reference point of the target reference vehicle located in the driving direction in the plane coordinate system.

[0075] It should be noted that the planar coordinate system is established with the origin at the origin, and with the direction of travel as the positive vertical axis and the left side of the direction of travel as the positive vertical axis.

[0076] Since the driver may activate the car's automatic parking system while the car is in motion, the automatic parking system needs to automatically identify the parking space. In order to facilitate the identification of the parking space, a Cartesian coordinate system is established.

[0077] When a car is looking for a parking space, it will pass other cars. There may be space between other cars, which may or may not meet the car's parking needs. Therefore, it is necessary to use other reference points to determine whether the space meets the car's parking needs. At this time, the car can determine the position information of the reference point of the target reference car located in the driving direction in the plane coordinate system.

[0078] like Figure 2 As shown, an irregular parking space is constructed using vehicle I (the first reference vehicle) and vehicle II (the second reference vehicle). An ultrasonic sensor is used to scan the right-hand edge information of the vehicle to be parked, obtaining the vehicle shape information of vehicle I and vehicle II and the position information of the available space between the two vehicles, thereby constructing a specific irregular parking space model.

[0079] As an example, the operation of determining the position information of the reference point of the target reference vehicle located in the driving direction in the plane coordinate system can be as follows: when the target reference vehicle includes a first reference vehicle and a second reference vehicle, determine the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system. The first reference vehicle is the first vehicle that the vehicle passes when traveling in the driving direction, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the driving direction.

[0080] The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle.

[0081] The fourth, fifth, and sixth reference points are three frame points located on the left, right, front, and rear of the second reference vehicle.

[0082] Ultrasonic sensors can be installed on the vehicle, specifically at the front and both sides of the vehicle. When searching for a parking space, as the vehicle travels from right to left, with the vehicle's initial position as the origin, the x-axis represents the distance traveled by the vehicle searching for the parking space, and the y-axis represents the distance measured by the ultrasonic sensor.

[0083] Based on the established planar coordinate system, the coordinates of the first reference point A of the first reference vehicle are (L... A D A The coordinates of the second reference point B are (L...). B D B The coordinates of the third reference point C are (L...). C D C ), where L A L B L CThe distances corresponding to the first reference point A, the second reference point B, and the third reference point C, respectively; D A D B D C This represents the distances measured by the ultrasonic sensors at the first reference point A, the second reference point B, and the third reference point C.

[0084] It is understandable that when a vehicle is traveling from left to right, such as Figure 3 As shown, any position on the left can be defined as the origin. The vehicle travels along the negative X-axis, and the absolute value of the difference between the coordinates of the reference point is taken as the actual distance.

[0085] Step 201: Based on the position information of the reference point, determine the vehicle attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle.

[0086] As an example, the vehicle attitude angles of the target reference vehicle are determined based on the location information of the reference point, specifically as follows:

[0087] The body attitude angle of the first reference vehicle is determined based on the arctangent value of the ratio of the difference in the vertical coordinates of the first reference point and the second reference point to the difference in the horizontal coordinates of the first reference point and the second reference point.

[0088] Calculate the arctangent of the ratio of the ordinate difference between the fourth and fifth reference points to the abscissa difference between the fourth and fifth reference points. Based on the sum of the arctangent and 90°, determine the vehicle attitude angle of the second reference vehicle. The attitude angle is the angle between the adjacent vehicle of the target parking space and the positive X-axis, closest to the side boundary of the parking space.

[0089] like Figure 4 As shown, the calculation of the body attitude angle α1 of the second reference vehicle is as follows:

[0090]

[0091] like Figure 5 As shown, the calculation of the body attitude angle α2 of the first reference vehicle is as follows:

[0092]

[0093] Step 301: Based on the location information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, determine the parking space identification type of the space to be identified based on a preset fuzzy rule library, so as to complete the parking space identification.

[0094] As an example, based on the location information of the reference point, the spatial parameters of the space to be identified adjacent to the target reference vehicle are determined, specifically:

[0095] The first shortest distance between the first reference vehicle and the second reference vehicle is calculated based on the perpendicular distance of the line segment formed by the left extreme point of the first reference vehicle (i.e., the first reference point) and the right frame point of the second reference vehicle (i.e., the fifth and sixth reference points).

[0096] The second shortest distance between the two reference vehicles is calculated based on the perpendicular distance of the line segment formed by the right limit point of the second reference vehicle (i.e., the fifth reference point) and the left frame point of the first reference vehicle (i.e., the first reference point and the second reference point).

[0097] Based on the first shortest distance and the second shortest distance, determine the shortest spatial distance between the first reference vehicle and the second reference vehicle;

[0098] Calculate the shortest horizontal distance between the first reference vehicle and the second reference vehicle based on the horizontal distance between the left extreme point of the first reference vehicle (i.e., the first reference point) and the right extreme point of the second reference vehicle (i.e., the fifth reference point).

[0099] like Figure 6 The image shown is a schematic diagram of an irregular parking space. Figure 5 It can be seen that the extreme points of vehicle I, i.e., the first reference vehicle, are the first reference point A1, the second reference point B1, and the third reference point C1, as well as the vehicle attitude angle α1. The extreme points of vehicle II, i.e., the second reference vehicle, are the fourth reference point A2, the fifth reference point B2, and the sixth reference point C2, as well as the vehicle attitude angle α2.

[0100] The horizontal distance to irregular parking spaces is determined by the difference between the horizontal distances of vehicle I (the first reference vehicle, i.e., the left limit point, i.e., the first reference point A1) and vehicle II (the second reference vehicle, i.e., the right limit point, i.e., the fifth reference point B2), and is determined by L. w The calculation formula is as follows:

[0101] L w =L A1 -L B2 ,

[0102] The perpendicular distance from the left extreme point (first reference point A1) of vehicle I (the first reference vehicle) to the line segment B2C2 formed by the fifth reference point B2 and the sixth reference point C2 of vehicle II (the second reference vehicle) yields the first shortest distance from vehicle I (the first reference vehicle) to vehicle II (the second reference vehicle):

[0103]

[0104] The perpendicular distance from the right limit point (fifth reference point) B2 of car II (the second reference vehicle) to the line segment A1B1 formed by the first reference point A1 and the second reference point B1 of car I (the first reference vehicle) yields the second shortest distance from car II (the second reference vehicle) to car I (the first reference vehicle):

[0105]

[0106] The shortest distance between the two vehicles is obtained by taking the minimum value of the first and second shortest distances:

[0107] L d =min{L 1-2 ,L 2-1},

[0108] As an example, the body attitude angle of the first reference vehicle, the body attitude angle of the second reference vehicle, the shortest horizontal distance between the first and second reference vehicles, and the shortest spatial distance between the first and second reference vehicles are used as input variables for the fuzzy rule, and the parking space type is used as the output variable for the fuzzy rule; the parking space type includes horizontal parking space, perpendicular parking space, irregular parking space, and no parking space.

[0109] like Figure 6 As shown, the Mamdani-type fuzzy control method is used, with the four determined parameters as inputs and professional driver experience as a reference. Through fuzzy inference, the appropriate parking space category is output.

[0110] Input variables: Vehicle I attitude angle α1, Vehicle II attitude angle α2, horizontal distance L between the two vehicles w The shortest distance between the two vehicles (L) d .

[0111] Output variable: Parking space type T, i.e., horizontal parking space, perpendicular parking space, angled parking space, and no parking space.

[0112] 1. When the input variable is the obstacle attitude angle α1 of vehicle I, its fuzzy subset is {small, medium, large}, which is simplified to {LA, LB, LC}, and the universe of discourse is [0, π].

[0113] 2. When the input variable is the obstacle attitude angle α2 of vehicle II, its fuzzy subset is {small, medium, large}, which is simplified to {LA, LB, LC}, and the universe of discourse is [0, π].

[0114] 3. When the input variable is the shortest horizontal distance between two obstacles, L w The fuzzy subsets are divided into {small, medium, large}, which are simplified to {LA, LB, LC}, and the universe of discourse is [0, +∞).

[0115] 4. When the input variable is the shortest distance between the two vehicles, L d The fuzzy subset is divided into {small, large}, which is simplified to {LA, LC}, and the universe of discourse is [0, +∞).

[0116] 5. The output variable is the parking space type T, and its fuzzy subset is {no parking space, parallel parking space, perpendicular parking space, angled parking space}, which is simplified to {N, P, V, O}, and the universe of discourse is [0, +∞).

[0117] The fuzzy rule base is determined as follows:

[0118] If(α1) i and(α2) i and(L w ) i and(L d ) i then(T) i (i = 1, 2, ..., M)

[0119] In the formula, T represents the type of parking space to be output, and M represents the total number of fuzzy rules.

[0120] A fuzzy rule base can be established by combining the experience of professional drivers.

[0121] Specifically, based on experience, the attitude angles α1 of vehicle I, α2 of vehicle II, and the horizontal distance L between the two vehicles are considered. w The shortest distance between the two vehicles (L) d A fuzzy rule base is constructed by mapping the fuzzy subset states of each vehicle to the fuzzy subsets of the output variables. Then, based on the attitude angles α1 of vehicle I, α2 of vehicle II, and the horizontal distance L between the two vehicles... w The shortest distance between the two vehicles (L) d Based on the constructed fuzzy rules, the corresponding parking space information is obtained.

[0122] After explaining the parking space identification method provided in the embodiments of this application, the parking space identification device provided in the embodiments of this application will be introduced next.

[0123] Figure 7 This is a schematic diagram of a parking space identification device provided in an embodiment of this application. The parking space identification device can be implemented as part or all of a car by software, hardware, or a combination of both. Please refer to... Figure 7 The device includes: a first determining module 701, a second determining module 702, and a third determining module 703.

[0124] The first determining module 701 is used to determine the position information of the reference point of the target reference vehicle located in the vehicle's driving direction in a plane coordinate system during the driving process. The plane coordinate system is a coordinate system established with the vehicle's driving direction as the horizontal axis and the left side of the driving direction as the vertical axis.

[0125] The second determining module 702 is used to determine the body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle based on the position information of the reference point.

[0126] The third determining module 703 is used to determine the parking space recognition type of the space to be recognized based on the position information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be recognized, and based on a preset fuzzy rule library, so as to complete the parking space recognition.

[0127] In some embodiments, the first determining module 701 is used to: determine the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system when the target reference vehicle includes the first reference vehicle and the second reference vehicle; the first reference vehicle is the first vehicle that the vehicle passes when traveling in the direction of travel, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the direction of travel.

[0128] The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle.

[0129] The fourth, fifth, and sixth reference points are three frame points located on the left, right, front, and rear of the second reference vehicle.

[0130] In some embodiments, the second determining module includes:

[0131] The first determining submodule is used to determine the body attitude angle of the second reference vehicle based on the arctangent value of the ratio of the difference between the ordinates of the first reference point and the second reference point to the difference between the abscissas of the first reference point and the second reference point.

[0132] The second determining submodule is used to calculate the difference in the vertical coordinates between the fourth reference point and the fifth reference point, and the arctangent value of the ratio of the difference in the horizontal coordinates between the fourth reference point and the fifth reference point. Based on the sum of the arctangent value and 90°, the body attitude angle of the first reference vehicle is determined.

[0133] In some embodiments, the second determining module further includes:

[0134] The third determination submodule is used to calculate the first shortest distance between the first reference vehicle and the second reference vehicle based on the vertical distance between the left limit point of the first reference vehicle (i.e., the first reference point) and the right frame point of the second reference vehicle (i.e., the fifth and sixth reference points).

[0135] The fourth determination submodule is used to calculate the second shortest distance between the second reference vehicles based on the vertical distance between the right limit point of the second reference vehicle (i.e., the fifth reference point) and the left frame point of the first reference vehicle (i.e., the first reference point and the second reference point).

[0136] The fifth determining submodule is used to determine the shortest spatial distance between the first reference vehicle and the second reference vehicle based on the first shortest distance and the second shortest distance.

[0137] The sixth determination submodule is used to calculate the shortest horizontal distance between the first reference vehicle and the second reference vehicle based on the horizontal distance between the left extreme point of the first reference vehicle (i.e., the first reference point) and the right extreme point of the second reference vehicle (i.e., the fifth reference point).

[0138] In some embodiments, the third determining submodule specifically includes:

[0139] The first calculation submodule is used to calculate the first shortest distance based on the horizontal and vertical coordinates of the first reference point, the horizontal and vertical coordinates of the fifth reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

[0140] In some embodiments, the fourth determining submodule specifically includes:

[0141] The second calculation submodule is used to calculate the second shortest distance based on the horizontal and vertical coordinates of the fifth reference point, the horizontal and vertical coordinates of the third reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

[0142] In some embodiments, in the third determining module, based on the location information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, the parking space identification type of the space to be identified is determined based on a preset fuzzy rule base to complete the parking space identification. Specifically, the vehicle body attitude angle of the first reference vehicle, the vehicle body attitude angle of the second reference vehicle, the shortest horizontal distance between the first reference vehicle and the second reference vehicle, and the shortest spatial distance between the first reference vehicle and the second reference vehicle are used as input variables of the fuzzy rule, and the parking space type is used as the output variable of the fuzzy rule; the parking space type includes horizontal parking space, vertical parking space, irregular parking space, and no parking space.

[0143] In some embodiments, the fuzzy subsets constructed from the body attitude angles of the first reference vehicle, the body attitude angles of the second reference vehicle, and the horizontal shortest distances between the first and second reference vehicles are all {small, medium, large}; the fuzzy subsets constructed from the spatial shortest distances between the first and second reference vehicles are {small, large}.

[0144] It should be noted that the parking space identification device provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the parking space identification device and the parking space identification method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0145] Typically, a car includes a processor and memory.

[0146] The processor may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and coprocessors. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which handles computational operations related to machine learning.

[0147] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one instruction, which is executed by a processor to implement the parking space identification method provided in the method embodiments of this application.

[0148] In some embodiments, the vehicle may also optionally include: a peripheral device interface and at least one peripheral device. The processor, memory, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: radio frequency circuitry, a touchscreen display, a camera, audio circuitry, a positioning component, and a power supply.

[0149] Peripheral device interfaces can be used to connect at least one I / O (Input / Output) related peripheral device to the processor and memory. In some embodiments, the processor, memory, and peripheral device interface are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor, memory, and peripheral device interface can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0150] Radio frequency (RF) circuits are used to receive and transmit RF signals, also known as electromagnetic signals. RF circuits communicate with communication networks and other communication devices via electromagnetic signals. RF circuits convert electrical signals into electromagnetic signals for transmission, or convert received electromagnetic signals back into electrical signals. Optionally, RF circuits include: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, user identity module cards, etc. RF circuits can communicate with other terminals through at least one wireless communication protocol. These wireless communication protocols include, but are not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0151] The display screen is used to display a user interface (UI). This UI can include graphics, text, icons, videos, and any combination thereof. When the display screen is a touch screen, it also has the ability to collect touch signals on or above the surface of the display. These touch signals can be input as control signals to a processor for processing. In this case, the display screen can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen, located on the front panel of the vehicle; in other embodiments, there may be at least two display screens, respectively located on different surfaces of the vehicle or in a folded design; in still other embodiments, the display screen may be a flexible display screen, located on a curved or folded surface of the vehicle. Furthermore, the display screen can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0152] A camera assembly is used to acquire images or videos. Optionally, the camera assembly includes any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0153] The audio circuitry may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to a processor for processing, or to radio frequency circuitry for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, positioned in different parts of the vehicle. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor or radio frequency circuitry into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuitry may also include a headphone jack.

[0154] The positioning component is used to determine the current geographical location of a vehicle to enable navigation or LBS (Location Based Service). The positioning component can be based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0155] The power source is used to power various components in the vehicle. The power source can be alternating current (AC), direct current (DC), a disposable battery, or a rechargeable battery. When the power source includes a rechargeable battery, it can be a wired or wirelessly rechargeable battery. A wired rechargeable battery is charged via a wired connection, while a wirelessly rechargeable battery is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0156] In some embodiments, the vehicle also includes one or more sensors.

[0157] Those skilled in the art will understand that the structure shown does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or employ different component arrangements.

[0158] In some embodiments, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the parking space identification method described above. For example, the computer-readable storage medium may be ROM, RAM, CD-ROM, DDR, FLASH, EEPROM, magnetic tape, floppy disk, or optical data storage device, etc.

[0159] It is worth noting that the computer-readable storage medium mentioned in this application can be a non-volatile storage medium, in other words, it can be a non-transient storage medium.

[0160] It should be understood that all or part of the steps of the above embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented wholly or partially in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above-described computer-readable storage medium.

[0161] That is, in some embodiments, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the steps of the parking space identification method described above.

[0162] The above descriptions are embodiments provided in this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for identifying parking spaces, characterized in that, include: During the driving process, the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle is determined in a plane coordinate system. The plane coordinate system is a coordinate system established with the driving direction of the vehicle as the horizontal axis and the left side of the driving direction as the vertical axis. Based on the location information of the reference point, determine the vehicle body attitude angle of the target reference vehicle, as well as the spatial parameters of the space to be identified adjacent to the target reference vehicle; Based on the location information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be identified, the parking space identification type of the space to be identified is determined based on a preset fuzzy rule base to complete the parking space identification. The step of determining the position information of the reference point of the target reference vehicle located in the driving direction in the plane coordinate system includes: when the target reference vehicle includes a first reference vehicle and a second reference vehicle, determining the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system, wherein the first reference vehicle is the first vehicle that the vehicle passes when traveling in the driving direction, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the driving direction; The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle. The fourth reference point, the fifth reference point, and the sixth reference point are three frame points located on the left, right, front, and rear of the second reference vehicle. Specifically, the vehicle attitude angle of the target reference vehicle is determined based on the position information of the reference point, as follows: The body attitude angle of the first reference vehicle is determined based on the arctangent of the ratio of the difference in the ordinate of the first reference point and the second reference point to the difference in the abscissa of the first reference point and the second reference point. Calculate the arctangent of the ratio of the difference in ordinate between the fourth reference point and the fifth reference point to the difference in abscissa between the fourth reference point and the fifth reference point. Based on the sum of the arctangent and 90°, determine the body attitude angle of the first reference vehicle.

2. The parking space identification method as described in claim 1, characterized in that, Based on the location information of the reference point, the spatial parameters of the space to be identified adjacent to the target reference vehicle are determined, specifically: The first shortest distance from the first reference vehicle to the second reference vehicle is calculated based on the perpendicular distance of the line segment formed by the left extreme point of the first reference vehicle (i.e., the first reference point) and the right frame point of the second reference vehicle (i.e., the fifth reference point and the sixth reference point). The second shortest distance between the two reference vehicles is calculated based on the perpendicular distance between the right limit point of the second reference vehicle (i.e., the fifth reference point) and the left frame point of the first reference vehicle (i.e., the first reference point and the second reference point). Based on the first shortest distance and the second shortest distance, determine the shortest spatial distance between the first reference vehicle and the second reference vehicle; The shortest horizontal distance between the first reference vehicle and the second reference vehicle is calculated based on the horizontal distance between the left extreme point (first reference point) of the first reference vehicle and the right extreme point (fifth reference point) of the second reference vehicle.

3. The parking space identification method as described in claim 2, characterized in that, The calculation of the first shortest distance and the second shortest distance is as follows: The first shortest distance is calculated based on the horizontal and vertical coordinates of the first reference point, the horizontal and vertical coordinates of the fifth reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle. The second shortest distance is calculated based on the horizontal and vertical coordinates of the fifth reference point, the horizontal and vertical coordinates of the third reference point, the body attitude angle of the first reference vehicle, and the body attitude angle of the second reference vehicle.

4. The parking space identification method as described in claim 2, characterized in that, The body attitude angles of the first reference vehicle, the body attitude angles of the second reference vehicle, the shortest horizontal distance between the first reference vehicle and the second reference vehicle, and the shortest spatial distance between the first reference vehicle and the second reference vehicle are used as input variables for the fuzzy rule, and the parking space type is used as the output variable for the fuzzy rule; the parking space type includes horizontal parking space, vertical parking space, irregular parking space, and no parking space.

5. The parking space identification method as described in claim 4, characterized in that, The fuzzy subsets constructed from the body attitude angles of the first reference vehicle, the body attitude angles of the second reference vehicle, and the horizontal shortest distance between the first reference vehicle and the second reference vehicle are all {small, medium, large}; the fuzzy subsets constructed from the spatial shortest distance between the first reference vehicle and the second reference vehicle are {small, large}.

6. A parking space identification system, characterized in that, include: The first determining module is used to determine the position information of the reference point of the target reference vehicle located in the vehicle's driving direction in a plane coordinate system during the driving process. The plane coordinate system is a coordinate system established with the vehicle's driving direction as the horizontal axis and the left side of the driving direction as the vertical axis. The step of determining the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle in the plane coordinate system includes: when the target reference vehicle includes a first reference vehicle and a second reference vehicle, determining the position information of the first reference point, the second reference point and the third reference point of the first reference vehicle in the plane coordinate system, and the position information of the fourth reference point, the fifth reference point and the sixth reference point of the second reference vehicle in the plane coordinate system, wherein the first reference vehicle is the first vehicle that the vehicle passes when traveling in the driving direction, and the second reference vehicle is the second vehicle that the vehicle passes when traveling in the driving direction; The first reference point, the second reference point, and the third reference point are three frame points located on the left, right, front, and rear of the first reference vehicle. The fourth reference point, the fifth reference point, and the sixth reference point are three frame points located on the left, right, front, and rear of the second reference vehicle. The second determining module is used to determine the vehicle body attitude angle of the target reference vehicle and the spatial parameters of the space to be identified adjacent to the target reference vehicle based on the position information of the reference point; wherein, determining the vehicle body attitude angle of the target reference vehicle based on the position information of the reference point specifically involves: The body attitude angle of the first reference vehicle is determined based on the arctangent of the ratio of the difference in the ordinate of the first reference point and the second reference point to the difference in the abscissa of the first reference point and the second reference point. Calculate the difference in ordinate between the fourth reference point and the fifth reference point, and the arctangent value of the ratio of the difference in abscissa between the fourth reference point and the fifth reference point. Based on the sum of the arctangent value and 90°, determine the body attitude angle of the first reference vehicle. The third determining module is used to determine the parking space recognition type of the space to be recognized based on the position information of the reference point, the vehicle body attitude angle, and the spatial parameters of the space to be recognized, and based on a preset fuzzy rule library, so as to complete the parking space recognition.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which is loaded and executed by a processor to implement a parking space identification method as described in any one of claims 1 to 5.

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