Automatic parking method, device, vehicle and storage medium

Abstract

The application discloses an automatic parking method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring environment information of a target space and driving parameters of the vehicle; determining a recommended parking area in the target space based on the driving parameters and the environment information, wherein the recommended parking area is a parking area recommended according to the driving behavior of the vehicle in the target space; in the case that there is at least one available parking space in the recommended parking area, determining a target parking space in the at least one available parking space based on the environment information; and controlling the vehicle to park in the target parking space. The technical scheme provided by the embodiment of the application can greatly reduce the calculation amount of the determination process of the target parking space, and can determine the target parking space more quickly, thereby improving the efficiency of automatic parking.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to an automatic parking method, device, vehicle, and storage medium. Background Technology

[0002] With the rapid development of intelligent driving technology, more and more cars are equipped with automatic parking systems to provide users with automatic parking functions.

[0003] In related technologies, automatic parking systems use onboard sensing systems to identify the space and parking lines of available parking areas around the vehicle, thereby determining available parking spaces. Then, the system selects the nearest available parking space as the target parking space and finally controls the vehicle to drive into the target parking space by controlling the vehicle's actuators (such as drive control unit, brake control unit, steering wheel, gear selection unit, etc.).

[0004] In related technologies, because the vehicle needs to perform automatic parking assessments on all identified parking spaces, the time required to determine the target parking space is long and the efficiency of automatic parking is low. Summary of the Invention

[0005] This application discloses an automatic parking method, apparatus, vehicle, and storage medium.

[0006] In a first aspect, embodiments of this application provide an automatic parking method, the method comprising: acquiring environmental information of a target space and acquiring driving parameters of a vehicle; determining a recommended parking area in the target space based on the driving parameters and the environmental information, wherein the recommended parking area is a parking area recommended based on the driving behavior of the vehicle in the target space, and the driving behavior of the vehicle in the target space is determined based on the environmental information and the driving parameters; if there is at least one available parking space in the recommended parking area, determining a target parking space among the at least one available parking space based on the environmental information; and controlling the vehicle to park in the target parking space.

[0007] Secondly, embodiments of this application provide an automatic parking device, comprising: an information acquisition module for acquiring environmental information of a target space and acquiring vehicle driving parameters; a recommended parking area determination module for determining a recommended parking area in the target space based on the driving parameters and environmental information, wherein the recommended parking area is a parking area recommended based on the vehicle's driving behavior in the target space, and the vehicle's driving behavior in the target space is determined based on the environmental information and driving parameters; a target parking space determination module for determining a target parking space among at least one available parking space in the recommended parking area, based on the environmental information; and an automatic parking module for controlling the vehicle to park in the target parking space.

[0008] Thirdly, embodiments of this application provide a vehicle, including: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to perform the method as described in the first aspect.

[0009] Fourthly, embodiments of this application provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer program instructions, which can be invoked by a processor to execute the method as described in the first aspect.

[0010] Compared to existing technologies, the technical solution provided in this application determines a recommended parking area based on environmental information detected by the vehicle-mounted perception system and the vehicle's driving parameters (such as driving direction and driving position). Then, it identifies the target parking space within the recommended parking area and controls the vehicle to park there. Since a user's driving behavior in a parking lot reflects their parking intentions to some extent—for example, if there are available parking spaces on both sides, the side closer to the vehicle is more likely to be the user's desired parking area—based on this principle, in this application embodiment, the vehicle first pre-determines a recommended parking area based on environmental information and driving parameters, and then identifies the target parking space within that area, rather than calculating for all parking spaces in the parking lot. This significantly reduces the computational load in determining the target parking space, allowing for faster identification and thus improving the efficiency of automatic parking. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the implementation environment provided in the embodiments of this application.

[0013] Figure 2 This is a flowchart of an automatic parking method provided in one embodiment of this application.

[0014] Figure 3 This is a flowchart of an automatic parking method provided in another embodiment of this application.

[0015] Figure 4 yes Figure 3 A schematic diagram illustrating the determination of recommended parking areas in the embodiments.

[0016] Figure 5This is a flowchart of an automatic parking method provided in one embodiment of this application.

[0017] Figure 6 yes Figure 5 A schematic diagram illustrating the determination of parking space boundary attributes in the embodiment.

[0018] Figure 7 This is a block diagram of an automatic parking device provided in one embodiment of this application.

[0019] Figure 8 This is a structural block diagram of a vehicle provided in one embodiment of this application. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] Please refer to Figure 1 This diagram illustrates an implementation environment provided in one embodiment of the present application. The implementation environment includes a vehicle 100. In this embodiment, the vehicle 100 is equipped with an automatic parking system and an onboard sensing system.

[0023] The vehicle-mounted perception system is used to detect environmental information around the vehicle 100, including but not limited to environmental images around the vehicle 100, the distance between the vehicle 100 and obstacles, the shape, speed, and direction of obstacles, etc. The vehicle-mounted perception system may include: image acquisition devices (such as dashcams) installed on the vehicle 100, vehicle-mounted radar (such as lidar, millimeter-wave radar, ultrasonic radar), etc.

[0024] An automatic parking system can select a parking space based on environmental information detected by an onboard perception system and control the vehicle to park in the selected space. Optionally, the automatic parking system includes a processing unit and a communication unit. The processing unit is connected to the communication unit, which in turn is connected to the onboard perception system, various sensors in the vehicle 100 (such as speed sensors and steering sensors), and actuators in the vehicle 100 (such as drive controllers, brake controllers, steering wheels, gear selectors, etc.). The communication unit transmits various data to the processing unit. The processing unit selects a parking space based on the received data, performs path planning based on the selected parking instruction, and generates control instructions corresponding to the actuators based on the path planning results. The actuators receive and execute the control instructions, thereby achieving automatic parking.

[0025] Since a user's driving behavior in a parking lot reflects their parking intentions to some extent—for example, when a driver is driving in an aisle with empty parking spaces on both sides, if the vehicle is on the right side of the aisle, the user is more likely to choose to park in an empty space on the right side; if the vehicle is on the left side of the aisle, the user is more likely to choose to park in an empty space on the left side—based on this principle, this application provides an automatic parking method. The vehicle first determines a recommended parking area in advance based on environmental information and driving parameters, and then determines the target parking space within the recommended parking area, rather than calculating for all parking spaces in the parking lot. Therefore, it can greatly reduce the computational load of the target parking space determination process, determine the target parking space faster, and thus improve the efficiency of automatic parking.

[0026] Please refer to Figure 2 The diagram illustrates a flowchart of an implementation of the provided automatic parking method. The method includes the following procedures.

[0027] S201, acquire environmental information of the target space, and acquire vehicle driving parameters.

[0028] The target space is either an indoor or outdoor parking lot. Environmental information about the target space is obtained by the vehicle's onboard perception system. This environmental information includes environmental images from the image acquisition device and detection data from the vehicle's radar. The radar detection data includes the distance, relative position, speed, and direction between obstacles and the vehicle. These obstacles include, but are not limited to, other vehicles parked in the target space, walls, and pillars.

[0029] The vehicle's driving parameters include its direction of travel and its current location. The vehicle's current location can be obtained through the positioning module.

[0030] During operation, the vehicle periodically detects environmental information and collects its own driving parameters through its onboard sensing system. The automatic parking system, upon detecting a parking intention, obtains this environmental information and driving parameters from the onboard sensing system. In some embodiments, S201 is executed after the vehicle enters the target space to initiate the automatic parking process. In other embodiments, S201 is executed when the vehicle enters a designated location within the target space (e.g., a location with multiple available parking spaces nearby). In still other embodiments, S201 is executed after the vehicle enters the parking lot and its speed is below a preset speed to initiate the automatic parking process. All three implementation methods can initiate the automatic parking process while ensuring the driver's parking intention, thus saving vehicle energy.

[0031] In some embodiments, after acquiring the aforementioned environmental information and vehicle driving parameters, the automatic parking system processes the data to determine all available parking spaces in the target space. Specifically, the automatic parking system first sequentially acquires the corner information of each parking space (i.e., the position information of the four vertices of the parking space line), and then sequentially checks whether each parking space is available. The detection conditions include the following: whether other vehicles are parked in the space, whether the space has a no-parking sign, whether there are obstacles affecting parking in the space, whether the space is a private parking space, and whether the space meets the vehicle's automatic parking requirements. If no vehicle is parked in the space, no no-parking sign is set up, there are no obstacles affecting parking, it is not a private parking space, and it meets the vehicle's automatic parking requirements, the parking space is an available parking space; otherwise, the parking space is not an available parking space. The automatic parking system determines whether the parking space meets the vehicle's automatic parking requirements based on the vehicle's size, the parking space's size, and the vehicle's automatic parking capability. Specifically, the automatic parking area determines the available parking area based on the size of the parking space. Then, based on the size of the vehicle and its automatic parking capability, it is determined whether safe parking can be achieved within the available parking area. If so, the parking space meets the vehicle's automatic parking requirements; otherwise, the parking space does not meet the vehicle's automatic parking requirements.

[0032] S202 determines recommended parking areas within the target space based on driving parameters and environmental information.

[0033] The recommended parking area is a parking area recommended based on the vehicle's driving behavior within the target space. The vehicle's driving behavior within the target space is determined based on environmental information and driving parameters. The specific determination process will be generated in the following examples.

[0034] Since a user's driving behavior in a parking lot reflects their parking intentions to some extent—for example, when a driver is driving in an aisle with available parking spaces on both sides, if the vehicle is on the right side of the aisle, the user is more likely to choose to park in an available parking space on the right side; if the vehicle is on the left side of the aisle, the user is more likely to choose to park in an empty parking space on the right side—based on this principle, in this embodiment, the vehicle first pre-determines a recommended parking area based on environmental information and driving parameters, and then determines the target parking space within the recommended parking area, rather than calculating for all parking spaces in the parking lot. Therefore, the computational load of determining the target parking space can be greatly reduced, and the target parking space can be determined more quickly, thereby improving the efficiency of automatic parking.

[0035] S203, if the recommended parking area includes at least one available parking space, determine the target parking space among the at least one available parking space based on environmental information.

[0036] If there is one available parking space in the recommended parking area, the automatic parking system directly designates that available parking space as the target parking space. If there are multiple available parking spaces in the recommended parking area, the automatic parking system scores each available parking space based on its attributes, and determines the target parking space from among the multiple available parking spaces based on the scoring results. Specific implementation methods will be described in the examples below.

[0037] In other possible implementations, if there are no available parking spaces in the recommended parking area, the automatic parking system can obtain the distances between available parking spaces and the vehicle in other areas within the target space besides the recommended parking area, and determine the available parking space in other areas that is closest to the vehicle as the target parking space.

[0038] Optionally, the distance between an available parking space and the vehicle refers to the distance between the midpoint of the open parking space line of the available parking space and the center of the vehicle. The automatic parking system acquires the position information of the midpoint of the open parking space line of the available parking space and the position information of the vehicle's center, and then calculates the distance between the available parking space and the vehicle based on these two pieces of position information. The position information of the midpoint of the open parking space line of the available parking space can be pre-calculated and stored in the vehicle, or it can be detected by the onboard sensing system. The position information of the vehicle's center can be calculated based on the vehicle's current position output by the positioning module.

[0039] S204, control the vehicle to park in the target parking space.

[0040] After determining the target parking space, the vehicle can plan a path from its current position to the target parking space. The path planning result includes the driving trajectory from the vehicle's current position to the target parking space, as well as parameters such as speed and acceleration at each trajectory point. Then, the vehicle generates control commands corresponding to the actuators based on the path planning result, such as the braking force provided by the brake controller and the steering angle of the steering wheel. Finally, the vehicle sends the above-mentioned control commands corresponding to the actuators to each actuator, and the actuators execute the above control commands to achieve automatic parking.

[0041] In summary, the technical solution provided in this application determines a recommended parking area based on environmental information detected by the vehicle-mounted perception system and the vehicle's driving parameters (such as driving direction and driving position). Then, it identifies the target parking space within the recommended parking area and controls the vehicle to park there. Since a user's driving behavior in a parking lot reflects their parking intentions to some extent—for example, if there are parking spaces on both sides, the side closer to the vehicle is more likely to be the user's desired parking area—based on this principle, in this application embodiment, the vehicle first pre-determines the recommended parking area based on environmental information and driving parameters, and then identifies the target parking space within the recommended parking area, rather than calculating for all parking spaces in the parking lot. Therefore, the computational load of determining the target parking space can be greatly reduced, allowing for faster identification of the target parking space and thus improving the efficiency of automatic parking.

[0042] Please refer to Figure 3 The diagram illustrates a flowchart of an automatic parking method provided in one embodiment of this application. The method includes the following procedures.

[0043] S301, acquire environmental information of the target space, and acquire vehicle driving parameters.

[0044] S302, obtain the first distance and the second distance based on environmental information.

[0045] In this embodiment of the application, the vehicle has a first parking area and a second parking area on both sides.

[0046] The first distance characterizes the distance between the vehicle and the first parking area. Specifically, the first parking area refers to the perpendicular distance between one side of the vehicle and a first designated straight line within the first parking area. The first parking area includes multiple parking spaces, among which there are two parking space lines parallel to the vehicle's direction of travel. The parking space line closer to the vehicle is used to determine the first designated straight line. (Refer to reference) Figure 4 ,exist Figure 4 In part (a), the vehicle has a first parking area 41 and a second parking area 42 on both sides, and the first distance from the vehicle to the first parking area 41 is w1.

[0047] The second distance characterizes the distance between the vehicle and the second parking area. Specifically, the second parking area refers to the perpendicular distance between the other side of the vehicle and a second designated straight line within the second parking area. The second parking area includes multiple parking spaces, among which there are two parking lines parallel to the vehicle's direction of travel. The parking line closer to the vehicle is used to determine the second designated straight line. Figure 4 In part (a), the second distance from the vehicle to the second parking area 42 is w2.

[0048] S303, if the first distance is greater than the sum of the second distance and the first specified value, a recommended parking area is determined in the second parking area based on driving parameters.

[0049] The first specified value is determined based on experiments or experience; for example, the first specified value is 50cm. If the first distance is greater than the sum of the second distance and the first specified value, it indicates that the vehicle is moving closer to the second parking area, and the driver is more inclined to park in the second parking area. Therefore, a recommended parking area needs to be determined in the second parking area.

[0050] Optionally, the automatic parking system determines a third side length and a fourth side length perpendicular to the third side length; wherein the extension direction of the third side length is opposite to the driving direction and its length is a second preset length; the area enclosed by the third side length and the fourth side length in the second parking area is determined as the recommended parking area.

[0051] The second set length is determined based on experiments or experience, and this application embodiment does not limit it. The length of the fourth side is slightly greater than the length of the parking space line perpendicular to the vehicle's driving direction in the second parking area.

[0052] Please refer to this again. Figure 4 ,exist Figure 4 In part (a), the first distance from the vehicle to the first parking area 41 is w1, which is greater than the second distance from the vehicle to the second parking area 42 w2 and Δw (the first specified value). The automatic parking system determines the area 423 enclosed by the third side length 421 and the fourth side length 422 in the second parking area 42 as the recommended parking area.

[0053] S304, if the second distance is greater than the sum of the first distance and the second specified value, a recommended parking area is determined based on driving parameters in the first parking area.

[0054] The first specified value is determined based on experiments or experience. The second specified value may be the same as or different from the first specified value. If the second distance is greater than the sum of the first distance and the first specified value, it indicates that the vehicle is moving closer to the second parking area, and the driver is more inclined to park in the first parking area. Therefore, a recommended parking area needs to be determined within the first parking area.

[0055] Optionally, the automatic parking system determines a first side length and a second side length perpendicular to the first side length; wherein the extension direction of the first side length is opposite to the driving direction and the length is a first preset length; the area enclosed by the first side length and the second side length in the first parking area is determined as the recommended parking area;

[0056] The second set length is determined based on experiments or experience, and this application embodiment does not limit it. The length of the second side is slightly greater than the length of the parking space line perpendicular to the vehicle's driving direction in the first parking area.

[0057] Please refer to this again. Figure 4 ,exist Figure 4 In part (b), the second distance from the vehicle to the second parking area 42 is w2, which is greater than the second distance from the vehicle to the first parking area 41 w1 and Δw (the second specified value). The automatic parking system determines the area 413 enclosed by the first side length 411 and the second side length 412 in the first parking area 41 as the recommended parking area.

[0058] In other possible implementations, when there is only one parking area on each side of the vehicle, the automatic parking system determines the area bounded by the fifth and sixth side lengths of that parking area as the recommended parking area. The fifth side length extends in the opposite direction to the vehicle's driving direction and has a length of a third preset length.

[0059] S305, if there is at least one available parking space in the recommended parking area, determine the target parking space among the at least one available parking space based on environmental information.

[0060] S306, control the vehicle to park in the target parking space.

[0061] In summary, the technical solution provided in this application, when parking areas exist on both sides of the vehicle, determines that the parking area closer to the vehicle is the parking area preferred by the driver. It then identifies a recommended parking area within the area closer to the vehicle and determines the target parking space within that recommended area, rather than calculating for all parking spaces in the parking lot. This significantly reduces the computational load in determining the target parking space, allowing for faster identification and thus improving the efficiency of automatic parking.

[0062] Please refer to Figure 5 The diagram illustrates a flowchart of an automatic parking method provided in one embodiment of this application. The method includes the following procedures.

[0063] S501 acquires environmental information of the target space and vehicle driving parameters.

[0064] S502 determines recommended parking areas within the target space based on driving parameters and environmental information.

[0065] Recommended parking areas are those suggested based on the vehicle's driving behavior within the target space. This driving behavior is determined based on environmental information and driving parameters.

[0066] S503, when the recommended parking area includes at least one available parking space, determines the parking space attributes corresponding to each of the at least one available parking space based on environmental information.

[0067] Parking space attributes include at least one of the following: parking space boundary attribute, parking space line encroachment attribute, parking space width attribute, and driver priority attribute.

[0068] The parking space boundary attribute indicates whether a first obstacle exists within the area corresponding to each of the two side boundaries of an available parking space. An available parking space is a rectangular area enclosed by two long sides and two short sides. In the case of perpendicular or angled parking spaces, the two side boundaries are the two long sides; in the case of perpendicular or horizontal parking spaces, the two side boundaries are the two short sides. The area corresponding to the boundary refers to the area outside the available parking space and whose distance from the boundary is less than a first preset threshold. The first preset threshold is set based on practical experience, for example, 40cm. A first obstacle is an obstacle that affects vehicle parking; its height is usually higher than the vehicle chassis, that is, the height of the first obstacle is greater than the vehicle's minimum ground clearance.

[0069] In some embodiments, for each available parking space, it is detected whether a first obstacle exists in the areas corresponding to the two side boundaries of the available parking space. If no first obstacle exists in the areas corresponding to the two side boundaries of the available parking space, the parking space boundary attribute is "no boundary"; if a first obstacle exists in the areas corresponding to the two side boundaries of the available parking space, the parking space boundary attribute is "double boundary"; if no first obstacle exists in the area corresponding to one side boundary of the available parking space, the parking space boundary attribute is "single boundary". The vehicle can obtain the location information of the first obstacle and the location information in the areas corresponding to the two side boundaries, and then detect the presence of a first obstacle in the areas corresponding to the two side boundaries of the available parking space based on whether the location information of the first obstacle falls within the range of the location information in the areas corresponding to the two side boundaries. If the location information of the first obstacle falls within the range of the location information in the areas corresponding to either side boundary, it indicates that a first obstacle exists in the area corresponding to that boundary; if the location information of the first obstacle does not fall within the range of the location information in the areas corresponding to the two side boundaries, it indicates that a first obstacle does not exist in the area corresponding to that boundary.

[0070] Reference Figure 6 The first preset threshold is 40cm. Figure 6 In part (a) of the diagram, portions of other vehicles fall within the area corresponding to one side boundary of parking space 1. The boundary attribute of parking space 1 is a single boundary. Figure 6 In part (b) of the above, the portions of other vehicles do not fall into the area corresponding to one side boundary of parking space 2, and the parking space boundary attribute of parking space 2 is no boundary.

[0071] The parking space line encroachment attribute indicates whether the parking space line of an available parking space intersects with a second obstacle. Specifically, if the parking space line of an available parking space intersects with the second obstacle, the parking space line encroachment attribute is "encroachment"; if the parking space line of an available parking space does not intersect with the second obstacle, the parking space line encroachment attribute is "non-encroachment". In some embodiments, the vehicle can determine whether the parking space line of an available parking space intersects with the second obstacle by performing image recognition on an environmental image, thereby determining the parking space line encroachment attribute of the available parking space. In other embodiments, the vehicle can obtain the position information of the parking space line and the position information of the second obstacle, and detect whether the two are partially the same. If they are partially the same, it indicates that the parking space line of the available parking space partially intersects with the second obstacle; if they are completely different, it indicates that the parking space line of the available parking space does not intersect with the second obstacle at all.

[0072] The parking space width attribute indicates whether an available parking space is a wide parking space or a narrow parking space, with a wide parking space being wider than a narrow parking space. In some embodiments, a vehicle identifies a parking space with a width greater than or equal to a second preset threshold as a wide parking space, and a parking space with a width less than the second preset threshold as a narrow parking space. The second preset threshold is determined based on the vehicle's width; specifically, the second preset threshold is the sum of the vehicle's width and a specified value. For example, if the vehicle's width is 1.6 meters and the specified value is 0.8 meters, then the second preset threshold is 2.4 meters.

[0073] The driver-first attribute indicates whether a third obstacle exists within the area corresponding to a specified boundary of an available parking space. The specified boundary refers to the boundary closest to the driver's side when the vehicle is parked in the available parking space. The area corresponding to the specified boundary refers to the area outside the available parking space and whose distance from the specified boundary is less than a third preset threshold. The third preset threshold is determined based on the minimum extent to which the car door needs to be opened when a person gets out of the vehicle from the driver's side. In some embodiments, for each available parking space, it is detected whether a third obstacle exists within the area corresponding to the specified boundary of the available parking space; if no third obstacle exists within the area corresponding to the specified boundary of the available parking space, the driver-first attribute of the available parking space is driver-first; if a third obstacle exists within the area corresponding to the specified boundary of the available parking space, the driver-first attribute of the available parking space is non-driver-first.

[0074] S504, based on the parking space attributes corresponding to at least one available parking space, determine the score corresponding to at least one available parking space.

[0075] Optionally, for each available parking space, the vehicle first determines the sub-scores corresponding to each parking space attribute of the available parking space; based on the sub-scores corresponding to each parking space attribute of the available parking space, the score corresponding to the available parking space is determined.

[0076] In some embodiments, when the boundary attribute of an available parking space is "no boundary", the sub-score corresponding to the boundary attribute is determined as a first value; when the boundary attribute of an available parking space is "single boundary", the sub-score corresponding to the boundary attribute is determined as a second value; when the boundary attribute of an available parking space is "no boundary", the sub-score corresponding to the boundary attribute is determined as a third value; the first value is greater than the second value, and the second value is greater than the third value. For example, the first value is 0, the second value is -10, and the third value is -20.

[0077] In some embodiments, when the parking line encroachment attribute of an available parking space is "not encroached," the sub-score corresponding to the parking line encroachment attribute is determined as a fourth value; when the parking line encroachment attribute of an available parking space is "encroached," the sub-score corresponding to the parking line encroachment attribute is determined as a fifth value; the fourth value is greater than the fifth value. For example, the fourth value is 0, and the fifth value is -5.

[0078] In some embodiments, when the width attribute of an available parking space is a wide parking space, the sub-score corresponding to the width attribute is determined to be the sixth value; when the width attribute of an available parking space is a narrow parking space, the sub-score corresponding to the width attribute is determined to be the seventh value; the sixth value is greater than the seventh value. For example, the sixth value is 0 and the seventh value is -2.

[0079] In some embodiments, if the available parking space has a driver-first priority attribute, the sub-score corresponding to the driver-first priority attribute is determined to be the eighth value; if the available parking space has a non-driver-first priority attribute, the sub-score corresponding to the driver-first priority attribute is determined to be the ninth value; the eighth value is greater than the ninth value. For example, the eighth value is 0, and the seventh value is -10.

[0080] It should be noted that the first to ninth values ​​mentioned above are all preset. In actual application, the automatic parking system obtains them by looking up a table after determining the parking space attributes of each available parking space.

[0081] After calculating the sub-scores corresponding to each attribute of the available parking spaces, the automatic parking system calculates the score of the available parking spaces based on these sub-scores. Optionally, the automatic parking system determines the score of the available parking spaces as the sum of the sub-scores corresponding to each attribute of the available parking spaces. Optionally, the automatic parking system determines the score of the available parking spaces as the sum of the initial score and the sub-scores corresponding to each attribute of the available parking spaces. The initial score is set based on practical experience, for example, an initial score of 100 points.

[0082] S505, based on the score of at least one available parking space, determine the target parking space among at least one available parking space.

[0083] In some embodiments, the vehicle may identify the available parking space with the highest score within the recommended parking area as the target parking space. In other embodiments, when multiple available parking spaces with the highest scores exist, the automatic parking system also calculates the distances between the vehicle and these multiple available parking spaces with the highest scores, and identifies the available parking space with the highest score and the shortest distance from the vehicle as the target parking space. The distance between the vehicle and the available parking space refers to the distance between the center of the vehicle and the midpoint of the opening line of the available parking space.

[0084] In some embodiments, the automatic parking system sends information about the target parking space to a display system in the vehicle (such as a central control screen). The display system can display a parking space layout map of the recommended parking area and highlight the identified target parking space. The display system also displays a query message to ask the driver whether to park in the target parking space. Upon receiving a confirmation instruction for the query message, the automatic parking system executes S506.

[0085] S506, controls the vehicle to park in the target parking space.

[0086] In summary, the technical solution provided in this application, after determining the recommended parking area, also determines various parking space attributes of the available parking spaces. Based on these multiple parking space attributes, the available parking spaces are scored to determine the target parking space. This can avoid situations where the target parking space determined by the automatic parking system does not meet the user's parking expectations, such as the parking space being too narrow, the parking line being encroached upon, or the driver's side being inconvenient to get out of the car. This makes automatic parking more in line with the user's parking expectations and improves convenience.

[0087] Please refer to Figure 7 The diagram shows a block diagram of an automatic parking device provided in one embodiment of this application. The automatic parking device includes: an information acquisition module 710, a recommended parking area determination module 720, a target parking space determination module 730, and an automatic parking module 740.

[0088] The information acquisition module 710 is used to acquire environmental information of the target space and vehicle driving parameters.

[0089] The recommended parking area determination module 720 is used to determine a recommended parking area in the target space based on driving parameters and environmental information. The recommended parking area is a parking area recommended based on the vehicle's driving behavior in the target space, which is determined based on environmental information and driving parameters.

[0090] The target parking space determination module 730 is used to determine the target parking space among the at least one available parking space based on environmental information, provided that there is at least one available parking space in the recommended parking area.

[0091] The automatic parking module 740 is used to control the vehicle to park in the target parking space.

[0092] In some embodiments, the vehicle includes a first parking area and a second parking area on both sides. The recommended parking area determination module 720 is used to obtain a first distance and a second distance based on environmental information. The first distance represents the distance between the vehicle and the first parking area, and the second distance represents the distance between the vehicle and the second parking area. If the first distance is greater than the sum of the second distance and a first preset value, a recommended parking area is determined in the second parking area based on driving parameters. If the second distance is greater than the sum of the first distance and the second preset value, a recommended parking area is determined in the first parking area based on driving parameters.

[0093] In some embodiments, the driving parameters include the driving direction. The recommended parking area determination module 720 is configured to: determine a first side length and a second side length perpendicular to the first side length; wherein the extension direction of the first side length is opposite to the driving direction and its length is a first predetermined length; determine the area enclosed by the first side length and the second side length in the first parking area as the recommended parking area; determine a third side length and a fourth side length perpendicular to the third side length; wherein the extension direction of the third side length is opposite to the driving direction and its length is a second predetermined length; determine the area enclosed by the third side length and the fourth side length in the second parking area as the recommended parking area.

[0094] In some embodiments, the target parking space determination module 730 is configured to determine, based on environmental information, parking space attributes corresponding to at least one available parking space, the parking space attributes including at least one of the following: parking space boundary attribute, parking space line encroachment attribute, parking space width attribute, and driver priority attribute; determine a score corresponding to at least one available parking space based on the parking space attributes corresponding to at least one available parking space; and determine a target parking space among at least one available parking space based on the score of at least one available parking space; wherein, the parking space boundary attribute indicates whether there is a first obstacle in the area corresponding to the two sides of the available parking space; the parking space line encroachment attribute indicates whether the parking space line of the available parking space intersects with a second obstacle; the parking space width attribute indicates whether the available parking space is a wide parking space or a narrow parking space, and the width of a wide parking space is greater than the width of a narrow parking space; the driver priority attribute indicates whether there is a third obstacle in the area corresponding to a specified boundary of the available parking space, the specified boundary being the boundary closest to the driver's side of the vehicle when the vehicle is parked in the available parking space.

[0095] In some embodiments, the target parking space determination module 730 is used to determine, for each available parking space, the sub-scores corresponding to each parking space attribute of the available parking space; and to determine the score corresponding to the available parking space based on the sub-scores corresponding to each parking space attribute of the available parking space.

[0096] In some embodiments, the target parking space determination module 730 is configured to: determine a first value for the sub-score corresponding to the parking space boundary attribute when the available parking space boundary attribute is "no boundary"; determine a second value for the sub-score corresponding to the parking space boundary attribute when the available parking space boundary attribute is "single boundary"; determine a third value for the sub-score corresponding to the parking space boundary attribute when the available parking space boundary attribute is "no boundary"; the first value is greater than the second value, and the second value is greater than the third value; determine a fourth value for the sub-score corresponding to ... In the case of encroachment, the sub-score corresponding to the parking space line encroachment attribute is determined as the fifth value; the fourth value is greater than the fifth value. If the available parking space's width attribute is wide, the sub-score corresponding to the width attribute is determined as the sixth value. If the available parking space's width attribute is narrow, the sub-score corresponding to the width attribute is determined as the seventh value; the sixth value is greater than the seventh value. If the available parking space's driver-first attribute is driver-first, the sub-score corresponding to the driver-first attribute is determined as the eighth value. If the available parking space's driver-first attribute is non-driver-first, the sub-score corresponding to the driver-first attribute is determined as the ninth value; the eighth value is greater than the ninth value.

[0097] In some embodiments, the target parking space determination module 730 is used to detect, for each available parking space, whether there is a first obstacle in the area corresponding to each of the two sides of the available parking space; if there is no first obstacle in the area corresponding to each of the two sides of the available parking space, the parking space boundary attribute of the available parking space is no boundary; if there is a first obstacle in the area corresponding to each of the two sides of the available parking space, the parking space boundary attribute of the available parking space is double boundary; if there is no first obstacle in the area corresponding to one side of the available parking space, the parking space boundary attribute of the available parking space is single boundary.

[0098] In some embodiments, the target parking space determination module 730 is used to detect, for each available parking space, whether there is a third obstacle in the area corresponding to the specified boundary of the available parking space; if there is no third obstacle in the area corresponding to the specified boundary of the available parking space, the driver priority attribute of the available parking space is driver priority; if there is a third obstacle in the area corresponding to the specified boundary of the available parking space, the driver priority attribute of the available parking space is non-driver priority.

[0099] In some embodiments, the target parking space determination module is further configured to, when there are no available parking spaces in the recommended parking area, obtain the distance between available parking spaces and vehicles in other areas within the target space besides the recommended parking area; and determine the available parking space with the smallest distance to the vehicle in the other areas as the target parking space.

[0100] In summary, the technical solution provided in this application determines a recommended parking area based on environmental information detected by the vehicle-mounted perception system and the vehicle's driving parameters (such as driving direction and driving position). Then, it identifies the target parking space within the recommended parking area and controls the vehicle to park there. Since a user's driving behavior in a parking lot reflects their parking intentions to some extent—for example, if there are parking spaces on both sides, the side closer to the vehicle is more likely to be the user's desired parking area—based on this principle, in this application embodiment, the vehicle first pre-determines the recommended parking area based on environmental information and driving parameters, and then identifies the target parking space within the recommended parking area, rather than calculating for all parking spaces in the parking lot. Therefore, the computational load of determining the target parking space can be greatly reduced, allowing for faster identification of the target parking space and thus improving the efficiency of automatic parking.

[0101] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0102] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.

[0103] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0104] Please see Figure 8 The illustration shows that an embodiment of this application also provides a vehicle 800, which includes: one or more processors 810, a memory 820, an ultrasonic radar, a lidar, and one or more application programs. The one or more application programs are stored in the memory 820 and configured to be executed by the one or more processors 810, and are configured to perform the methods described in the above embodiments.

[0105] The processor 810 may include one or more processing cores. The processor 810 connects to various parts of the entire battery management system using various interfaces and lines, and performs various functions and processes data of the battery management system by running or executing instructions, programs, code sets, or instruction sets stored in the memory 820, and by calling data stored in the memory 820. Optionally, the processor 810 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 810 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 810 and may be implemented separately using a communication chip.

[0106] The memory 820 may include random access memory (RAM) or read-only memory (ROM). The memory 820 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 820 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below. The data storage area may also store data created during the use of the electronic device (such as phonebook data, audio and video data, chat log data, etc.).

[0107] This application also provides a computer-readable storage medium storing computer program instructions that can be invoked by a processor to execute the methods described in the above embodiments.

[0108] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, computer-readable storage media include non-transitory computer-readable storage media. The computer-readable storage medium has storage space for computer program instructions that perform any of the method steps described above. These computer program instructions can be read from or written to one or more computer program products.

[0109] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. An automatic parking method characterized by, The method comprises: acquiring environment information of a target space, and acquiring a driving parameter of a vehicle; determining a recommended parking area in the target space based on the driving parameter and the environment information, the recommended parking area being a parking area recommended according to a driving behavior of the vehicle in the target space, the driving behavior of the vehicle in the target space being determined based on the environment information and the driving parameter; in a case where there is at least one available parking space in the recommended parking area, determining a parking space attribute corresponding to each of the at least one available parking space based on the environment information, determining a score corresponding to each of the at least one available parking space based on the parking space attribute corresponding to each of the at least one available parking space, and determining a target parking space in the at least one available parking space based on the scores of the at least one available parking space, wherein the parking space attribute comprises a driver priority attribute, the driver priority attribute representing whether there is a third obstacle in a region corresponding to a specified boundary of the available parking space, the specified boundary being a boundary closest to a driver of the vehicle when the vehicle is parked in the available parking space; controlling the vehicle to park in the target parking space; wherein the determination of the parking space attribute corresponding to each of the at least one available parking space based on the environment information comprises: detecting, for each of the available parking spaces, whether there is a third obstacle in a region corresponding to a specified boundary of the available parking space; if there is no third obstacle in the region corresponding to the specified boundary of the available parking space, the driver priority attribute of the available parking space is driver priority; and if there is a third obstacle in the region corresponding to the specified boundary of the available parking space, the driver priority attribute of the available parking space is non-driver priority.

2. The method of claim 1, wherein, The two sides of the vehicle comprise a first parking area and a second parking area respectively; and the determination of the recommended parking area in the target space based on the driving parameter and the environment information comprises: acquiring a first distance and a second distance based on the environment information, the first distance representing a distance between the vehicle and the first parking area, and the second distance representing a distance between the vehicle and the second parking area; in a case where the first distance is greater than a sum of the second distance and a first preset value, determining a recommended parking area in the second parking area based on the driving parameter; and in a case where the second distance is greater than a sum of the first distance and a second preset value, determining a recommended parking area in the first parking area based on the driving parameter.

3. The method of claim 2, wherein, The driving parameter comprises a driving direction; the determination of the recommended parking area in the first parking area based on the driving parameter comprises: determining a first edge length and a second edge length perpendicular to the first edge length, wherein the first edge length extends in a direction opposite to the driving direction and has a first set length; and determining a region enclosed by the first edge length and the second edge length in the first parking area as the recommended parking area. The determining the recommended parking area in the second parking area based on the driving parameter comprises: determining a third edge length and a fourth edge length perpendicular to the third edge length; wherein the third edge length extends in a direction opposite to the driving direction and has a second set length; and determining an area enclosed by the third edge length and the fourth edge length in the second parking area as the recommended parking area.

4. The method according to any one of claims 1 to 3, characterized in that, The parking space attribute further comprises at least one of the following: a parking space boundary attribute, a parking space line encroachment attribute, and a parking space width attribute. The parking space boundary attribute represents whether a first obstacle exists in a region corresponding to each side boundary of the available parking space; the parking space line encroachment attribute represents whether a second obstacle intersects with a parking space line of the available parking space; and the parking space width attribute represents whether the available parking space is a wide parking space or a narrow parking space, wherein the wide parking space has a greater width than the narrow parking space.

5. The method of claim 1, wherein, The determining of the score corresponding to each of the available parking spaces based on the parking space attribute corresponding to each of the available parking spaces comprises: For each of the available parking spaces, determining a sub-score corresponding to each of the parking space attributes of the available parking space; The determining of the score corresponding to each of the available parking spaces based on the sub-score corresponding to each of the parking space attributes of the available parking space.

6. The method of claim 5, wherein, The determining of the sub-score corresponding to each of the parking space attributes of the available parking space comprises: In a case where the parking space boundary attribute of the available parking space is no boundary, the sub-score corresponding to the parking space boundary attribute is determined as a first numerical value; in a case where the parking space boundary attribute of the available parking space is single boundary, the sub-score corresponding to the parking space boundary attribute is determined as a second numerical value; and in a case where the parking space boundary attribute of the available parking space is no boundary, the sub-score corresponding to the parking space boundary attribute is determined as a third numerical value; the first numerical value is greater than the second numerical value, and the second numerical value is greater than the third numerical value; In a case where the parking space line encroachment attribute of the available parking space is no encroachment, the sub-score corresponding to the parking space line encroachment attribute is determined as a fourth numerical value; in a case where the parking space line encroachment attribute of the available parking space is encroachment, the sub-score corresponding to the parking space line encroachment attribute is determined as a fifth numerical value; the fourth numerical value is greater than the fifth numerical value; In a case where the width attribute of the available parking space is wide parking space, the sub-score corresponding to the width attribute is determined as a sixth numerical value; in a case where the width attribute of the available parking space is narrow parking space, the sub-score corresponding to the width attribute is determined as a seventh numerical value; the sixth numerical value is greater than the seventh numerical value; In a case where the main driver priority attribute of the available parking space is main driver priority, the sub-score corresponding to the main driver priority attribute is determined as an eighth numerical value; in a case where the main driver priority attribute of the available parking space is non-main driver priority, the sub-score corresponding to the main driver priority attribute is determined as a ninth numerical value; the eighth numerical value is greater than the ninth numerical value.

7. The method of claim 1, wherein, The determining of the parking space attribute corresponding to each of the available parking spaces based on the environment information comprises: For each of the available parking spaces, it is detected whether there is a first obstacle in the area corresponding to the two side boundaries of the available parking space respectively; If there is no first obstacle in the area corresponding to the two side boundaries of the available parking space respectively, the parking space boundary attribute of the available parking space is no boundary; If there is a first obstacle in the area corresponding to the two side boundaries of the available parking space respectively, the parking space boundary attribute of the available parking space is double boundary; If there is no first obstacle in the area corresponding to one side boundary of the available parking space respectively, the parking space boundary attribute of the available parking space is single boundary.

8. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: In the case that there is no available parking space in the recommended parking area, the distance between the available parking space included in the other area in the target space and the vehicle is obtained; The available parking space with the minimum distance between the vehicle in the other area is determined as the target parking space.

9. An automatic parking apparatus characterized by comprising: The device comprises: An information acquisition module configured to acquire environmental information of a target space and driving parameters of a vehicle; A recommended parking area determination module configured to determine a recommended parking area in the target space based on the driving parameters and the environmental information, the recommended parking area being a parking area recommended according to the driving behavior of the vehicle in the target space, the driving behavior of the vehicle in the target space being determined based on the environmental information and the driving parameters; A target parking space determination module configured to, in the case that there is at least one available parking space in the recommended parking area, determine the parking space attribute corresponding to each of the available parking spaces based on the environmental information, determine the score corresponding to each of the available parking spaces based on the parking space attribute corresponding to each of the available parking spaces, and determine a target parking space in the at least one available parking space based on the score of the at least one available parking space, wherein the parking space attribute comprises a driver priority attribute, the driver priority attribute representing whether there is a third obstacle in the area corresponding to the specified boundary of the available parking space, the specified boundary being the boundary closest to the driver of the vehicle when the vehicle is parked in the available parking space; An automatic parking module configured to control the vehicle to park in the target parking space; The target parking space determination module is specifically configured to, for each of the available parking spaces, detect whether there is a third obstacle in the area corresponding to the specified boundary of the available parking space respectively, and if there is no third obstacle in the area corresponding to the specified boundary of the available parking space respectively, the driver priority attribute of the available parking space is driver priority, and if there is a third obstacle in the area corresponding to the specified boundary of the available parking space respectively, the driver priority attribute of the available parking space is non-driver priority.

10. A vehicle characterized by comprising: Comprise: One or more processors; Memory; One or more application programs, wherein one or more of the application programs are stored in the memory and configured to be executed by one or more of the processors, and one or more of the application programs are configured to execute the method of any one of claims 1-8.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, which can be invoked by the processor to execute the method of any one of claims 1-8.

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