Parking method, device, equipment and storage medium

Abstract

The invention discloses a parking method, device and equipment and a storage medium. The parking method comprises the steps that position information of a target parking space is acquired; wherein the position information of the target storage location comprises position information of a preset number of storage location angular points; in response to existence of a first obstacle in a first preset area of the first garage location corner point, determining a fusion point corresponding to the first garage location corner point based on the position information of the first obstacle; wherein the first storage location corner point is a storage location corner point located on a storage line of the target storage location; updating the position information of the first storage location corner point to the position information of the corresponding fusion point; and based on the updated position information of the target parking space, a parking path for the vehicle to park in the target parking space is planned. In this way, the parking efficiency and the parking reliability of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a parking method, device, equipment and storage medium. Background Art

[0002] The APA (Auto Parking Assist) system uses sensors installed on the vehicle to perceive the vehicle's surrounding environment to find an effective target storage location, plan a parking path between the vehicle and the target storage location, and then control the vehicle to park in the target storage location according to the planned parking path.

[0003] In the related art, the perceived location information of the target storage location (i.e., the location information of the four corner points of the target storage location) is directly used for parking path planning. However, if the perceived location information of the target storage location is unreasonable, such as the target storage location is small, the location information of the target storage location is inaccurate, etc., on the one hand, it is easy to cause the planning to consider that the parking space is too small when the storage location is small, resulting in the small storage location not being released for users to use during the storage search stage, or the small storage location will make it difficult for the vehicle to park in the target storage location, and the number of parking attempts will be high, resulting in low parking efficiency. On the other hand, if there are obstacles on the inside of the storage location, the vehicle may fail to park in the target storage location, resulting in low vehicle parking reliability and affecting the user's parking experience. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a parking method, device, equipment and computer-readable storage medium, which can improve the parking efficiency and parking reliability of the vehicle.

[0005] To solve the above technical problems, a technical solution adopted in the present application is: providing a parking method, the method comprising: obtaining the position information of the target storage location; wherein the position information of the target storage location includes the position information of a preset number of storage location corner points; in response to the presence of a first obstacle in a first preset area of ​​the first storage location corner point, determining a fusion point corresponding to the first storage location corner point based on the position information of the first obstacle; wherein the first storage location corner point is a storage location corner point located on the storage entry line of the target storage location; updating the position information of the first storage location corner point to the position information of the corresponding fusion point; and planning a parking path for the vehicle to park in the target storage location based on the updated position information of the target storage location.

[0006] Optionally, the position information of the first obstacle includes position information of several first obstacle points; determining the fusion point corresponding to the first storage location corner point based on the position information of the first obstacle includes: based on the position information of the several first obstacle points, screening out a first reference point and a second reference point from the several first obstacle points; wherein the first reference point is the first obstacle point among the several first obstacle points that is closest to the target side storage location line, the target side storage location line passes through the first storage location corner point and is perpendicular to the storage line, and the second reference point is the first obstacle point with the largest vertical coordinate value located in the first preset area; determining the fusion point of the first storage location corner point based on the position information of the first reference point and the position information of the second reference point.

[0007] Optionally, the several first obstacle points are endpoints on several fitted line segments of the first obstacle; the step of obtaining the position information of the several first obstacle points includes: obtaining the several fitted line segments of the first obstacle; screening out the fitted line segments that intersect with the first preset area from the several fitted line segments; and using the position information of the endpoints of each screened fitted line segment as the position information of the several first obstacle points.

[0008] Optionally, based on the position information of several first obstacle points, a first reference point and a second reference point are screened out from the several first obstacle points, including: based on the position information of several first obstacle points, first obstacle points that meet preset requirements are screened out from the several first obstacle points; wherein the preset requirements include that the distance between the first obstacle point and the target side storage location line is less than a first preset distance; and the first reference point and the second reference point are screened out from the first obstacle points that meet the preset requirements.

[0009] Optionally, based on the position information of the first reference point and the position information of the second reference point, determining the fusion point of the first storage location corner point includes: determining a first reference line based on the position information of the first reference point, and determining a second reference line based on the position information of the second reference point; wherein the first reference line is a straight line passing through the first reference point and parallel to the target side storage location line, and the second reference line is a straight line passing through the second reference point and perpendicular to the target side storage location line; determining the position information of the intersection of the first reference line and the second reference line as the fusion point of the first storage location corner point.

[0010] Optionally, before planning a parking path for the vehicle to park in the target storage location based on the updated position information of the target storage location, the method further includes:

[0011] In response to the presence of a second obstacle in a second preset area of ​​the target storage location, a fusion point corresponding to a second storage location corner point is determined based on the position information of the second obstacle; wherein the second storage location corner point is a storage location corner point on the storage location line opposite to the entry line, and the second preset area is located on one side of the target storage location close to the storage location line opposite to the entry line; the position information of the second storage location corner point is updated to the position information of the corresponding fusion point.

[0012] Optionally, the location information of the second obstacle includes location information of several second obstacle points; determining the fusion point corresponding to the second storage location corner point based on the location information of the second obstacle includes: based on the location information of the several second obstacle points, screening out a third reference point from the several second obstacle points; wherein the third reference point is the second obstacle point closest to the storage line; based on the location information of the third reference point, determining the fusion point of the second storage location corner point.

[0013] Optionally, several second obstacle points are endpoints on several fitted line segments of the second obstacle; and / or, based on the position information of the third reference point, the fusion point of the second storage location corner point is determined, including: based on the position information of the third reference point, a third reference line is determined; wherein the third reference line passes through the third reference point and is parallel to the storage line; and the position information of the intersection of the third reference line and the second preset area is determined as the fusion point of the second storage location corner point.

[0014] Optionally, in response to the presence of a first obstacle within a first preset area of ​​a first storage location corner point, before determining a fusion point corresponding to the first storage location corner point based on position information of the first obstacle, the method includes: obtaining obstacle information located within an area of ​​interest of the vehicle; wherein the obstacle information includes a number of fitting line segments corresponding to a number of obstacles located within the area of ​​interest.

[0015] Optionally, the step of determining the region of interest includes: determining a target posture of the vehicle based on position information of the target storage location; and determining the region of interest based on a current posture of the vehicle and the target posture of the vehicle.

[0016] To solve the above technical problems, another technical solution adopted in the present application is: to provide a parking device, which includes: an acquisition module, used to acquire the position information of the target storage location; wherein the position information of the target storage location includes the position information of a preset number of storage location corner points; a determination module, used to determine the fusion point corresponding to the first storage location corner point based on the position information of the first obstacle in response to the presence of a first obstacle in a first preset area of ​​the first storage location corner point; wherein the first storage location corner point is a storage location corner point located on the storage entry line of the target storage location; an update module, used to update the position information of the first storage location corner point to the position information of the corresponding fusion point; and a planning module, used to plan a parking path for the vehicle to enter the target storage location based on the updated position information of the target storage location.

[0017] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, comprising a memory and a processor coupled to each other, the memory storing program instructions; the processor is used to execute the program instructions stored in the memory to implement the above parking method.

[0018] In order to solve the above technical problem, another technical solution adopted by the present application is: providing a computer-readable storage medium, wherein the computer-readable storage medium is used to store program instructions, and the program instructions can be executed by a processor to implement the above parking method.

[0019] In the above scheme, the position information of the target storage location is obtained. When there is a first obstacle in the first preset area of ​​the first storage location corner point located on the storage line, the fusion point corresponding to the first storage location corner point is determined based on the position information of the first obstacle, the position information of the first storage location corner point is updated to the position information of the corresponding fusion point, and the parking path of the vehicle into the target storage location is planned based on the updated position information of the target storage location. In this method, the position information of the first storage location corner point is fused with the position information of the first obstacle in the corresponding first preset area. On the one hand, when the first obstacle is located outside the target storage location, the parking space outside the target storage location can be reasonably utilized to increase the parking space of the target storage location and reduce the number of times the vehicle parks in the storage, thereby improving the parking efficiency of the vehicle. On the other hand, when the first obstacle and the target storage location have an intersection, the parking space of the target storage location can be appropriately limited to reduce the possibility of collision between the vehicle and the first obstacle, thereby improving the reliability of parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a structural schematic diagram of an embodiment of a parking system provided by the present application;

[0021] Figure 2 It is a flowchart of an embodiment of a parking method provided by the present application;

[0022] Figure 3 is a flow chart of another embodiment of the parking method provided by the present application;

[0023] Figure 4 It is a flow chart of an implementation method of determining a fusion point of a first storage location corner point provided by the present application;

[0024] Figure 5 This is a schematic diagram of the principle of obtaining the location information of several first obstacle points provided by the present application;

[0025] Figure 6 It is a schematic diagram of the principle of screening the first obstacle point that meets the preset requirements provided by the present application;

[0026] Figure 7 is a schematic diagram of the principle of screening the first reference point and the second reference point provided by the present application;

[0027] Figure 8 It is a schematic diagram of the principle of determining the fusion point of the first storage location corner point provided by the present application;

[0028] Fig. 9is a schematic diagram of the principle of determining the second preset area provided by the present application;

[0029] Fig.10 This is a schematic diagram of the principle of obtaining the location information of several second obstacle points provided by the present application;

[0030] Fig.11 It is a schematic diagram of the principle of screening the third reference point provided by the present application;

[0031] Fig.12 It is a schematic diagram of the principle of determining the fusion point of the second storage location corner point provided by the present application;

[0032] Fig.13 It is a schematic diagram of the parking effect provided by the present application;

[0033] Fig.14 is a schematic diagram of a framework of an embodiment of a parking device provided by the present application;

[0034] Fig.15 It is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application;

[0035] Fig.16 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0037] It should be noted that the term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The term "several" means at least one. The terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0038] See also Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the structure of an embodiment of a parking system provided by the present application. Figure 1 As shown, the parking system includes a positioning module, a perception module, a decision-making planning module, a vehicle-computer module, a control module and an actuator.

[0039] The positioning module is used to obtain the vehicle's location information in real time and output it to the perception module, decision-making planning module and control module. Exemplarily, the positioning module is a GPS installed in the vehicle.

[0040] The perception module is used to perceive the environmental information around the vehicle, determine the location information of the target storage location based on the acquired environmental information, and output the location information of the target storage location to the vehicle computer module and the decision-making planning module. In one embodiment, the environmental information perceived by the perception module includes the environmental image around the vehicle. The perception module can analyze the parking space lines in the environmental image to obtain the location information of the target storage location in the vehicle coordinate system, and convert the location information of the target storage location in the vehicle coordinate system to the global coordinate system, for example, to the world coordinate system, in combination with the vehicle's location information. Exemplarily, the perception module includes an image sensor and a radar sensor installed on the vehicle. For example, the image sensor is a surround view camera of the vehicle, such as a front view camera, a left view camera, a right view camera, and a rear view camera. The type of the camera can be a fisheye camera, a wide-angle camera, etc. The radar sensor can be an ultrasonic radar sensor, a millimeter wave radar sensor, a laser radar sensor, etc., and this embodiment does not specifically limit this.

[0041] The decision-making planning module is used to obtain the location information of the target storage location output by the perception module, and plan the parking path for the vehicle to park in the target storage location based on the current location information of the vehicle and the location information of the target storage location.

[0042] The vehicle computer module is used to obtain the location information of the target storage location output by the perception module and the parking path output by the decision planning module, and display the target storage location and the parking path to the target storage location, a button indicating whether to park (such as a "confirm parking" button), etc. on the display interface. Exemplarily, the vehicle computer module is a vehicle-mounted central control screen.

[0043] The control module is used to respond to receiving a parking instruction, calculate the lateral and longitudinal control amount using the planned parking path, the current position of the vehicle and the vehicle chassis signal, and send it to the actuator to perform lateral and longitudinal control of the vehicle to control the vehicle to park in the target parking space. Exemplarily, the actuator includes a steering system, a braking system and a power system.

[0044] See also Figure 2 , Figure 2 1 is a flow chart of an embodiment of the parking method provided by the present application. It should be noted that if there is substantially the same result, the method of the present application is not limited to the method of the present application. Figure 2 The process sequence shown is limited. Figure 2 As shown, the method comprises the following steps:

[0045] S21: Obtain the location information of the target storage location.

[0046] Among them, the location information of the target storage location includes the location information of a preset number of storage location corner points, and the location information of each storage location corner point refers to the corresponding coordinates of each storage location corner point. The preset number can be four, three or two, and this embodiment does not make a specific limitation on this. The preset number of storage location corner points includes at least one first storage location corner point and at least one second storage location corner point. The first storage location corner point is a storage location corner point located on the storage entry line, and the second storage location corner point is a storage location corner point on the storage location line opposite to the storage entry line. The acquisition of the target storage location can refer to Figure 1 The illustrated embodiments will not be described in detail here.

[0047] In one embodiment, four storage location corner points of the target storage location are used to represent the target storage location. In this case, the position information of the target storage location includes the position information of two first storage location corner points and the position information of two second storage location corner points.

[0048] In another embodiment, three corner points of the target storage location are used to represent the target storage location. For example, the location information of the target storage location includes the location information of a first corner point of the storage location and the location information of two second corner points of the storage location, or the location information of the target storage location includes the location information of two first corner points of the storage location and the location information of one second corner point of the storage location.

[0049] In another embodiment, two storage location corner points located on the diagonal line of the target storage location are used to represent the target storage location. In this case, the location information of the target storage location includes the location information of a first storage location corner point and the location information of a second storage location corner point located on the diagonal line.

[0050] S22: In response to the presence of a first obstacle in a first preset area of ​​the first storage location corner point, determine a fusion point corresponding to the first storage location corner point based on position information of the first obstacle.

[0051] The first preset area may be an area located outside the target storage location and including the first storage location corner point. Alternatively, the first preset area may be an area partially located inside the target storage location and partially located outside the target storage location and including the first storage location corner point. The shape of the first preset area may be a rectangle, a circle, an ellipse or other shapes, which is not specifically limited in this embodiment.

[0052] Exemplarily, the first preset area is a rectangular area centered at the first storage location corner point, and the length and width of the rectangular area can be set according to actual needs.

[0053] In step S22, based on the obstacle information obtained by the perception module and the position information of the first preset area, it can be determined whether the first obstacle exists in the first preset area. If part of the first obstacle is located in the first preset area, or if the first obstacle is completely located in the first preset area of ​​the first storage location corner point, it is considered that the first obstacle exists in the first preset area of ​​the first storage location corner point.

[0054] Further, when it is determined that there is a first obstacle in the first preset area of ​​the first storage location corner point, the fusion point corresponding to the first storage location corner point is determined based on the position information of the first obstacle.

[0055] When the first obstacle is located outside the target storage location, the fusion point of the first storage location corner point is a point located in the first preset area and outside the target storage location. When the first obstacle and the target storage location have an intersection, the fusion point of the first storage location corner point is a point located in the first preset area and on the storage location line of the target storage location, or the fusion point of the first storage location corner point is a point located in the first preset area and inside the target storage location.

[0056] S23: Update the position information of the first storage location corner point to the position information of the corresponding fusion point.

[0057] Specifically, the coordinates of the fusion point of the first storage location corner point are used as the new coordinates of the first storage location corner point, thereby updating the position information of the first storage location corner point.

[0058] S24: Planning a parking path for the vehicle to park in the target storage location based on the updated position information of the target storage location.

[0059] Specifically, a parking path for the vehicle to park in the target storage location can be planned based on the current location information of the vehicle and the updated location information of the target storage location. Afterwards, the vehicle can be controlled to travel according to the planned parking path.

[0060] It should be noted that after the aforementioned steps S22 and S23, the location information of the target storage corner point still includes the location information of the preset number of storage corner points, but the location information of the first storage corner point among the preset number of storage corner points has been updated. How to plan the parking path is not the focus of this application, and can refer to the existing related technologies, which will not be elaborated in detail here.

[0061] In this embodiment, the position information of the target storage location is obtained. When there is a first obstacle in the first preset area of ​​the first storage location corner point located on the storage line, the fusion point corresponding to the first storage location corner point is determined based on the position information of the first obstacle, the position information of the first storage location corner point is updated to the position information of the corresponding fusion point, and the parking path of the vehicle into the target storage location is planned based on the updated position information of the target storage location. In this method, the position information of the first storage location corner point is fused with the position information of the first obstacle in the corresponding first preset area. On the one hand, when the first obstacle is located outside the target storage location, the parking space outside the target storage location can be reasonably utilized to increase the parking space of the target storage location and reduce the number of times the vehicle parks in the storage, thereby improving the parking efficiency of the vehicle. On the other hand, when the first obstacle and the target storage location have an intersection, the parking space of the target storage location can be appropriately limited to reduce the possibility of collision between the vehicle and the first obstacle, thereby improving the reliability of parking.

[0062] See also Figure 3 , Figure 3 FIG. 2 is a flow chart of another embodiment of the parking method provided by the present application. Figure 3 As shown, the method comprises the following steps:

[0063] S31: Obtain the location information of the target storage location.

[0064] The relevant contents may refer to the aforementioned step S21 and will not be described again here.

[0065] S32: Obtain obstacle information within the region of interest of the vehicle.

[0066] In one embodiment, the obstacle information located in the region of interest of the vehicle includes a plurality of fitted line segments corresponding to a plurality of obstacles located in the region of interest, and each of the fitted line segments is a straight line segment. In this embodiment, step S32 may include the following sub-steps:

[0067] Sub-step 1: Obtain obstacle information around the vehicle.

[0068] Specifically, obstacle information around the vehicle can be acquired through the aforementioned perception module.

[0069] Sub-step 2: performing line segmentation processing on obstacle information around the vehicle to obtain a number of fitting line segments corresponding to a number of obstacles.

[0070] In one example, an environment image detected by an image sensor is obtained, and obstacle information about obstacles such as vehicles and pillars in the environment image is extracted. At this time, the obstacle information is in BOX form, and the obstacle information in BOX form includes the position information, length, width and other information of the geometric center of the obstacle. The obstacle information in BOX form is processed into line segments to obtain several fitting line segments. For example, the obstacle information in BOX form of a certain obstacle vehicle includes the position information of the geometric center point of the obstacle vehicle, the length and width of the obstacle vehicle. The obstacle information is processed into line segments to obtain four fitting line segments.

[0071] In another example, point cloud data of obstacles such as curbs and walls are obtained through radar sensors. The point cloud data includes the location information of several scattered points. The point cloud data is clustered to obtain several data clusters. Each data cluster includes the location information of multiple scattered points. Each data cluster is segmented to obtain the fitting line segment corresponding to each data cluster. For example, the least squares straight line fitting can be performed on each scattered point in the data cluster to achieve the segmentation of each data cluster. For another example, the location information of two scattered points can be selected from the data cluster, such as the location information of the first and last two scattered points in the data cluster, and a fitting line segment can be determined based on the location information of the two scattered points.

[0072] Sub-step three: determine the region of interest of the vehicle.

[0073] Specifically, sub-step three includes: determining a target posture of the vehicle based on the position information of the target storage location; and determining an area of ​​interest of the vehicle based on the current posture of the vehicle and the target posture of the vehicle.

[0074] The current posture of the vehicle includes the current position information and orientation of the vehicle, and the target posture of the vehicle includes the posture information and orientation of the vehicle after it is parked in the target storage location. The target posture of the vehicle can be determined based on the position information of the target storage location. For example, the position information of the center point of the target storage location can be determined based on the position information of the four storage location corner points of the target storage location, and the position information of the center point of the target storage location is used as the position information of the center point of the vehicle, that is, the vehicle is parked in the center of the target storage location.

[0075] The region of interest of the vehicle includes the area that the vehicle may pass through when parking in the target storage location. For example, a larger rectangular area including the current position and target position of the vehicle can be determined as the region of interest of the vehicle.

[0076] Sub-step 4: Filter out several fitting line segments located within the region of interest of the vehicle.

[0077] After the region of interest of the vehicle is determined, several fitting line segments located in the region of interest of the vehicle may be screened out from the several fitting line segments obtained in sub-step 2.

[0078] In sub-steps 1 to 4, by obtaining a number of fitting line segments corresponding to a number of obstacles located in the region of interest for subsequent processing, the amount of data processing can be reduced and the calculation efficiency can be improved.

[0079] Optionally, in other implementations, the region of interest of the vehicle may be first acquired, and then obstacle information located in the region of interest of the vehicle may be acquired for segmentation processing to obtain a plurality of fitting line segments located in the region of interest of the vehicle.

[0080] Optionally, in other implementations, only the position information of a number of scattered points corresponding to a number of obstacles located in the region of interest of the vehicle may be obtained without performing line segmentation processing.

[0081] S33: In response to the presence of a first obstacle in a first preset area of ​​the first storage location corner point, determine a fusion point corresponding to the first storage location corner point based on position information of the first obstacle.

[0082] Specifically, based on the obstacle information in the area of ​​interest of the vehicle and the position information of the first preset area, it can be determined whether there is a first obstacle in the first preset area. When it is determined that there is a first obstacle in the first preset area, the fusion point corresponding to the first storage position corner point is further determined based on the position information of the first obstacle.

[0083] Figure 4 : is a flow chart of an implementation method of determining the fusion point of the first storage location corner point provided by the present application. Figure 4 As shown, the method comprises the following steps:

[0084] S401: Acquire position information of a first obstacle, where the position information of the first obstacle includes position information of a plurality of first obstacle points.

[0085] The position information of the first obstacle points can represent the position of the first obstacle.

[0086] In one embodiment, the first obstacle points are endpoints on the fitted line segments of the first obstacle, and the step of obtaining the position information of the first obstacle points includes: obtaining the fitted line segments of the first obstacle; selecting the fitted line segments that intersect with the first preset area of ​​the first storage location corner point from the fitted line segments of the first obstacle; and using the position information of the endpoints of each selected fitted line segment as the position information of the first obstacle points.

[0087] Figure 5 This is a schematic diagram of the principle of obtaining the location information of several first obstacle points provided by this application. Figure 5As shown, point a of the target storage location is taken as an example for exemplary description, a first preset area of ​​fixed length and fixed width is established with point a as the center, the first obstacle includes four fitting line segments ef, eg, gh and fh, and the fitting line segments ef and fh that intersect with the first preset area of ​​point a are screened, and the three endpoints e, f and h of the fitting line segments ef and fh are used as several first obstacle points of the first obstacle, and the position information of the endpoints e, f and h is used as the position information of several first obstacle points of the first obstacle.

[0088] S402: Based on the position information of the plurality of first obstacle points, select a first reference point and a second reference point from the plurality of first obstacle points.

[0089] The first reference point is the first obstacle point closest to the target side storage line among the first obstacle points, and the target side storage line passes through the first storage corner point and is perpendicular to the storage line. The second reference point is the first obstacle point with the largest ordinate value located in the first preset area.

[0090] In one embodiment, the step of selecting the first reference point and the second reference point from the plurality of first obstacle points includes: selecting the first obstacle points that meet the preset requirements from the plurality of first obstacle points based on the position information of the plurality of first obstacle points; selecting the first reference point and the second reference point from the first obstacle points that meet the preset requirements. The preset requirements include that the distance between the first obstacle point and the target side storage location line is less than the first preset distance. The first preset distance can be set according to actual needs.

[0091] For example, the distance between each first obstacle point and the target side storage line can be determined based on the position information of each first obstacle point, and then the first obstacle points can be sorted based on the distance between each first obstacle point and the target side storage line, such as sorting them in order from large to small or from small to large according to the distance between the first obstacle point and the target side storage line, to obtain a number of ordered first obstacle points, and then eliminate unnecessary first obstacle points from the ordered first obstacle points, and only select the first reference point and the second reference point from the first obstacle points that meet the preset requirements.

[0092] Figure 6 This is a schematic diagram of the principle of screening the first obstacle point that meets the preset requirements provided by this application. Figure 6 As shown in the figure, the first obstacle points of the first obstacle include endpoints e, f and h, and a virtual line L is drawn parallel to the target side storage line ad. The distance between the virtual line L and the target side storage line ad is the first preset distance. The first obstacle points (i.e. Figure 6 The endpoints f and h) in the figure are taken as the first obstacle points that meet the requirements.

[0093] Figure 7Schematic diagram of the principle of screening the first reference point and the second reference point provided by the present application. Figure 7 As shown, the first obstacle point that meets the above preset requirements includes endpoint f and endpoint h. From endpoint f and endpoint h, the first obstacle point closest to the target side storage location line ad is selected as the first reference point, that is, Figure 7 The endpoint h in is the first reference point. Further, a coordinate system is established with the first reference point as the origin, the horizontal axis is the x-axis, the vertical axis is the y-axis, and the selected endpoints f and h are projected on the y-axis respectively, and the endpoint with the largest y value is selected as the second reference point, that is, Figure 7 The endpoint f in is the second reference point.

[0094] S403: Determine a fusion point of the first storage location corner point based on the position information of the first reference point and the position information of the second reference point.

[0095] In one embodiment, a first reference line is determined based on the position information of the first reference point, and a second reference line is determined based on the position information of the second reference point; the position information of the intersection of the first reference line and the second reference line is determined as the fusion point of the first storage location corner point. The first reference line is a straight line passing through the first reference point and parallel to the target side storage location line, and the second reference line is a straight line passing through the second reference point and perpendicular to the target side storage location line.

[0096] Figure 8 This is a schematic diagram of the principle of determining the fusion point of the first storage location corner point provided by this application. Figure 8 As shown, the first reference point of the first storage location corner point is determined as Figure 8 The endpoint h in the first storage location is determined by the second reference point of the first storage location corner point. Figure 8 The endpoint f in the graph is the intersection of the first reference line and the second reference line, that is, Figure 8 The point a' in is the fusion point of the first storage location corner point, and the position information of the point a' is used as the position information of the fusion point of the first storage location corner point.

[0097] Optionally, in other embodiments, in order to reduce the possibility of collision between the vehicle and the first obstacle during parking and to further improve the reliability of parking, the first reference line may not pass through the first reference point, and the second reference line may not pass through the second reference point. At this time, the first reference line passing through the first reference point may be further translated to between the first reference point and the target side storage line, so that the distance between the first reference line and the target side storage line is less than the distance between the first reference point and the target side storage line; and the second reference line passing through the second reference point may be translated so that the ordinate of the point on the translated second reference line is greater than the ordinate of the second reference point; the position information of the intersection of the translated first reference line and the translated second reference line is used as the fusion point of the first storage corner point. The translation distance of the first reference line and the translation distance of the second reference line may be the same or different, and the translation distance of the first reference line and the translation distance of the second reference line may be set according to actual needs.

[0098] S34: Update the position information of the first storage location corner point to the position information of the corresponding fusion point.

[0099] Specifically, the coordinates of the fusion point of the first storage location corner point are used as the new coordinates of the first storage location corner point, thereby updating the position information of the first storage location corner point.

[0100] S35: In response to the presence of a second obstacle in the second preset area of ​​the target storage location, determine a fusion point corresponding to a corner point of the second storage location based on position information of the second obstacle.

[0101] The second storage location corner point is a storage location corner point on the storage location line opposite to the storage entry line. The second preset area is located in the target storage location on one side of the storage location line opposite to the storage entry line.

[0102] Fig. 9 Schematic diagram of the principle of determining the second preset area provided by the present application. Fig. 9 As shown, the target storage location includes two first storage location corner points a and b and two second storage location corner points c and d. Taking the storage line ab as the reference line, the midpoint of ab is selected and translated downward by a second preset distance to obtain the center point of the second preset area, and the second preset area is established with a fixed length and a fixed width. Exemplarily, the width of the second preset area is the same as the length of ab or cd, the length of the second preset area is less than the length of ad or bc, and the second preset area may include cd or not.

[0103] In step S35, it can be determined whether there is a second obstacle in the second preset area based on the obstacle information in the area of ​​interest of the vehicle and the position information of the second preset area. When it is determined that there is a second obstacle in the second preset area, the fusion point corresponding to the second storage location corner point is further determined based on the position information of the second obstacle.

[0104] The position information of the second obstacle includes position information of a plurality of second obstacle points, and the position information of the plurality of second obstacle points can represent the position of the second obstacle. Exemplarily, the position information of the plurality of second obstacle points is the endpoints on the fitting line segment of the second obstacle.

[0105] Specifically, the step of determining the fusion point corresponding to the second storage location corner point based on the position information of the second obstacle includes: selecting a third reference point from a plurality of second obstacle points based on the position information of the plurality of second obstacle points; and determining the fusion point of the second storage location corner point based on the position information of the third reference point. The third reference point is the second obstacle point closest to the storage line.

[0106] In one embodiment, determining the fusion point of the second storage location corner point based on the position information of the third reference point includes: determining a third reference line based on the position information of the third reference point; and determining the position information of the intersection of the third reference line and the second preset area as the fusion point of the second storage location corner point. The third reference line passes through the third reference point and is parallel to the storage line.

[0107] Fig.10 This is a schematic diagram of the principle of obtaining the location information of several second obstacle points provided by this application. Fig.10 As shown, there is a second obstacle in the second preset area of ​​the target storage location, and the second obstacle includes two fitting line segments ij and km. A line segment is made through the second preset area or the lower right corner point c of the target storage location, and a coordinate system is established with the lower vertex of the line segment as the coordinate origin. The vertical axis direction of the coordinate system represents a unit vector. The endpoints of the two fitting line segments in the second preset area and the coordinate origin of the coordinate system respectively form vectors. According to vector operation, the line segment endpoints i, j, k and m on the left side of the vertical axis of the coordinate system are obtained, and the endpoints i, j, k and m are used as several second obstacle points of the second obstacle, and the position information of the endpoints i, j, k and m is used as the position information of several second obstacle points of the second obstacle.

[0108] Fig.11 Schematic diagram of the principle of screening the third reference point provided by this application. Fig.11 As shown in FIG. 1 , the second preset area includes four endpoints i, j, k and m (i.e., four second obstacle points). A coordinate system is established with the midpoint of the lower edge of the second preset area as the coordinate origin, with the horizontal axis being the x-axis and the vertical axis being the y-axis. The endpoints i, j, k and m are projected onto the y-axis of the coordinate system respectively, and the endpoint with the largest y value (i.e., the second obstacle point closest to the entry line) is selected as the third reference point, i.e. Fig.11 The endpoint i in .

[0109] Fig.12 This is a schematic diagram of the principle of determining the fusion point of the second storage location corner point provided by this application. Fig.12As shown, the third reference point of the second storage location corner point is determined as Fig.12 The endpoint i in the figure, the third reference line passing through the endpoint i and parallel to the storage line ab and the second preset area are compared with points c' and d', and the intersection point c' is used as the fusion point of the second storage location corner point c, and the intersection point d' is used as the fusion point of the second storage location corner point d.

[0110] Optionally, in other embodiments, in order to reduce the possibility of collision between the vehicle and the second obstacle during parking and to further improve the reliability of parking, the third reference line may not pass through the third reference point. In this case, the third reference line passing through the third reference point may be further translated to one side of the entry line by a certain distance, and the position information of the intersection of the translated third reference line and the second preset area is used as the fusion point of the second storage position corner point. The translation distance of the third reference line may be set according to actual needs.

[0111] S36: Update the position information of the second storage location corner point to the position information of the corresponding fusion point.

[0112] Specifically, the coordinates of the fusion point of the second storage location corner point are used as new coordinates of the second storage location corner point, thereby updating the position information of the second storage location corner point.

[0113] S37: Planning a parking path for the vehicle to park in the target storage location based on the updated position information of the target storage location.

[0114] It should be noted that after the aforementioned steps S33 to S36, the location information of the target storage location corner point still includes the location information of a preset number of storage location corner points, but the location information of the first storage location corner point and / or the location information of the second storage location corner point among the preset number of storage location corner points has been updated.

[0115] Fig.13 is a schematic diagram of the parking effect provided by this application. Fig.13 As shown in the figure, the left box represents the target storage location, and the right box represents the obstacle vehicle. After the upper right corner point of the target storage location and the upper left corner point of the obstacle vehicle are merged ( Fig.13 The parking path is planned (not shown in the figure). When the vehicle is parked into the target storage location according to the parking path, it can pass through the original upper right corner point of the target storage location and park in one step without rubbing the storage area.

[0116] In this embodiment, when there is a first obstacle in the first preset area of ​​the first storage location corner point located on the storage line, the fusion point corresponding to the first storage location corner point is determined based on the position information of the first obstacle, and the position information of the first storage location corner point is updated to the position information of the corresponding fusion point, that is, the position information of the first storage location corner point is fused with the position information of the first obstacle in the corresponding first preset area. On the one hand, when the first obstacle is located outside the target storage location, the parking space outside the target storage location can be reasonably used, and when the perceived target storage location is small, the parking space of the target storage location can be increased, so that the target storage location can be released for user use, and the number of vehicle parking rubbing can be reduced, thereby improving the parking efficiency of the vehicle. On the other hand, when the first obstacle and the target storage location have an intersection, the parking space of the target storage location can be appropriately limited to reduce the possibility of collision between the vehicle and the first obstacle, thereby improving the reliability of parking. Moreover, when there is a second obstacle in the second preset area of ​​the target storage location, the fusion point corresponding to the second storage location corner point is determined based on the position information of the second obstacle, and the position information of the second storage location corner point is updated to the position information of the corresponding fusion point, that is, the position information of the second storage location corner point is fused with the position information of the second obstacle in the second preset area. This can reduce the possibility of a collision between the vehicle and the second obstacle in the second preset area, or reduce the possibility of the vehicle being stuck by the second obstacle (such as bushes, etc.) in the second preset area, thereby further improving the reliability of parking.

[0117] See also Fig.14 , Fig.14 1 is a schematic diagram of a parking device according to an embodiment of the present application. In this embodiment, the parking device 140 includes: an acquisition module 141 , a determination module 142 , an update module 143 and a planning module 144 .

[0118] The acquisition module 141 is used to acquire the location information of the target storage location; wherein the location information of the target storage location includes the location information of a preset number of storage location corner points. The determination module 142 is used to determine the fusion point corresponding to the first storage location corner point based on the location information of the first obstacle in response to the presence of a first obstacle in the first preset area of ​​the first storage location corner point; wherein the first storage location corner point is a storage location corner point located on the storage entry line of the target storage location. The update module 143 is used to update the location information of the first storage location corner point to the location information of the corresponding fusion point. The planning module 144 is used to plan the parking path for the vehicle to enter the target storage location based on the updated location information of the target storage location.

[0119] Optionally, the location information of the first obstacle includes location information of several first obstacle points. The determination module 142 is used to select a first reference point and a second reference point from several first obstacle points based on the location information of several first obstacle points; wherein the first reference point is the first obstacle point closest to the target side storage line among the several first obstacle points, the target side storage line passes through the first storage corner point and is perpendicular to the storage line, and the second reference point is the first obstacle point with the largest ordinate value located in the first preset area; based on the location information of the first reference point and the location information of the second reference point, determine the fusion point of the first storage corner point.

[0120] Optionally, the first obstacle points are endpoints on a plurality of fitted line segments of the first obstacle. The determination module 142 is used to obtain a plurality of fitted line segments of the first obstacle; select a fitted line segment that intersects with the first preset area from the plurality of fitted line segments; and use the position information of the endpoints of each selected fitted line segment as the position information of the first obstacle points.

[0121] Optionally, the determination module 142 is used to screen out first obstacle points that meet preset requirements from a number of first obstacle points based on the location information of the first obstacle points; wherein the preset requirements include that the distance between the first obstacle point and the target side storage location line is less than a first preset distance; and screen out a first reference point and a second reference point from the first obstacle points that meet the preset requirements.

[0122] Optionally, the determination module 142 is used to determine a first reference line based on the position information of the first reference point, and to determine a second reference line based on the position information of the second reference point; wherein the first reference line is a straight line passing through the first reference point and parallel to the target side storage location line, and the second reference line is a straight line passing through the second reference point and perpendicular to the target side storage location line; the position information of the intersection of the first reference line and the second reference line is determined as the fusion point of the first storage location corner point.

[0123] Optionally, the determination module 142 is further configured to determine, in response to the presence of a second obstacle in a second preset area of ​​the target storage location, a fusion point corresponding to the second storage location corner point based on the position information of the second obstacle; wherein the second storage location corner point is a storage location corner point on the storage location line opposite to the entry line, and the second preset area is located on one side of the storage location line opposite to the entry line in the target storage location. The updating module 143 is further configured to update the position information of the second storage location corner point to the position information of the corresponding fusion point.

[0124] Optionally, the position information of the second obstacle includes position information of a plurality of second obstacle points;

[0125] The determination module 142 is used to select a third reference point from a number of second obstacle points based on the position information of the number of second obstacle points; wherein the third reference point is the second obstacle point closest to the warehouse entry line; and determine the fusion point of the second storage location corner point based on the position information of the third reference point.

[0126] Optionally, the plurality of second obstacle points are endpoints on a plurality of fitted line segments of the second obstacle. And / or, the determination module 142 is used to determine a third reference line based on the position information of the third reference point; wherein the third reference line passes through the third reference point and is parallel to the storage line; and determine the position information of the intersection of the third reference line and the second preset area as the fusion point of the second storage location corner point.

[0127] Optionally, the acquisition module 141 is further used to acquire obstacle information located in the region of interest of the vehicle; wherein the obstacle information includes a number of fitting line segments corresponding to a number of obstacles located in the region of interest.

[0128] Optionally, the acquisition module 141 is further configured to determine a target posture of the vehicle based on the position information of the target storage location; and determine an area of ​​interest based on the current posture of the vehicle and the target posture of the vehicle.

[0129] It should be noted that the device of this embodiment can execute the steps in the above method. For detailed description of the relevant content, please refer to the above method part, which will not be repeated here.

[0130] See also Fig.15 , Fig.15 1 is a schematic diagram of a framework of an electronic device according to an embodiment of the present application. In this embodiment, the electronic device 150 includes a memory 151 and a processor 152 .

[0131] The processor 152 may also be referred to as a CPU (Central Processing Unit). The processor 152 may be an integrated circuit chip having signal processing capabilities. The processor 152 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general-purpose processor may be a microprocessor or the processor 152 may also be any conventional processor 152, etc.

[0132] The memory 151 in the electronic device 150 is used to store program instructions required for the processor 152 to run.

[0133] The processor 152 is configured to execute program instructions to implement the parking method in the present application.

[0134] See also Fig.16 , Fig.16 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 160 of the embodiment of the present application stores program instructions 161, and the program instructions 161 implement the parking method provided by the present application when executed. Among them, the program instructions 161 can form a program file and be stored in the above-mentioned computer-readable storage medium 160 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of each implementation method of the present application. The aforementioned computer-readable storage medium 160 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or terminal devices such as a computer, a server, a mobile phone, and a tablet.

[0135] In the above scheme, the position information of the target storage location is obtained. When there is a first obstacle in the first preset area of ​​the first storage location corner point located on the storage line, the fusion point corresponding to the first storage location corner point is determined based on the position information of the first obstacle, the position information of the first storage location corner point is updated to the position information of the corresponding fusion point, and the parking path of the vehicle into the target storage location is planned based on the updated position information of the target storage location. In this method, the position information of the first storage location corner point is fused with the position information of the first obstacle in the corresponding first preset area. On the one hand, when the first obstacle is located outside the target storage location, the parking space outside the target storage location can be reasonably utilized to increase the parking space of the target storage location and reduce the number of times the vehicle parks in the storage, thereby improving the parking efficiency of the vehicle. On the other hand, when the first obstacle and the target storage location have an intersection, the parking space of the target storage location can be appropriately limited to reduce the possibility of collision between the vehicle and the first obstacle, thereby improving the reliability of parking.

[0136] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0137] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0138] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0140] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0141] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0142] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A parking method, characterized in that: The method comprises: Obtaining location information of a target storage location; wherein the location information of the target storage location includes location information of a preset number of storage location corner points; In response to a first obstacle existing within a first preset area of ​​a first storage location corner point, determining a fusion point corresponding to the first storage location corner point based on position information of the first obstacle; wherein the first storage location corner point is a storage location corner point located on the storage line of the target storage location; Updating the position information of the first storage location corner point to the position information of the corresponding fusion point; Based on the updated position information of the target storage location, a parking path for the vehicle to park in the target storage location is planned.

2. The method according to claim 1, characterized in that The position information of the first obstacle includes position information of a plurality of first obstacle points; The determining the fusion point corresponding to the first storage location corner point based on the position information of the first obstacle includes: Based on the position information of the plurality of first obstacle points, a first reference point and a second reference point are selected from the plurality of first obstacle points; wherein the first reference point is the first obstacle point among the plurality of first obstacle points that is closest to a target-side storage location line, the target-side storage location line passing through the first storage location corner point and being perpendicular to the incoming storage line; and the second reference point is the first obstacle point with the largest vertical coordinate value located within the first preset area; Based on the position information of the first reference point and the position information of the second reference point, a fusion point of the first storage location corner point is determined.

3. The method according to claim 2, characterized in that The plurality of first obstacle points are endpoints on a plurality of fitting line segments of the first obstacle; The step of obtaining the position information of the plurality of first obstacle points includes: Obtaining a plurality of fitting line segments of the first obstacle; Filtering out, from the plurality of fitting line segments, a fitting line segment that intersects with the first preset area; The position information of the endpoints of each of the filtered fitting line segments is used as the position information of the first obstacle points.

4. The method according to claim 2, characterized in that The selecting the first reference point and the second reference point from the plurality of first obstacle points based on the position information of the plurality of first obstacle points includes: Based on the position information of the plurality of first obstacle points, a first obstacle point meeting a preset requirement is selected from the plurality of first obstacle points; wherein the preset requirement includes that the distance between the first obstacle point and the target-side storage location line is less than a first preset distance; The first reference point and the second reference point are selected from the first obstacle points that meet the preset requirements.

5. The method according to claim 2, characterized in that The determining the fusion point of the first storage location corner point based on the position information of the first reference point and the position information of the second reference point includes: Determine a first reference line based on the position information of the first reference point, and determine a second reference line based on the position information of the second reference point; wherein the first reference line is a straight line passing through the first reference point and parallel to the target side storage location line, and the second reference line is a straight line passing through the second reference point and perpendicular to the target side storage location line; Determine the position information of the intersection of the first reference line and the second reference line as the fusion point of the first storage location corner point.

6. The method according to claim 1, wherein Before planning a parking path for the vehicle to park in the target storage location based on the updated position information of the target storage location, the method further includes: In response to the presence of a second obstacle within a second preset area of ​​the target storage location, determining a fusion point corresponding to a second storage location corner point based on the position information of the second obstacle; wherein the second storage location corner point is a storage location corner point on the storage location line opposite the entry line, and the second preset area is located on a side of the target storage location close to the storage location line opposite the entry line; The position information of the second storage location corner point is updated to the position information of the corresponding fusion point.

7. The method according to claim 6, characterized in that The position information of the second obstacle includes position information of a plurality of second obstacle points; The determining the fusion point corresponding to the second storage location corner point based on the position information of the second obstacle includes: Based on the position information of the plurality of second obstacle points, a third reference point is selected from the plurality of second obstacle points; wherein the third reference point is the second obstacle point closest to the entry line; Based on the position information of the third reference point, a fusion point of the second storage location corner point is determined.

8. The method according to claim 7, characterized in that The plurality of second obstacle points are endpoints on a plurality of fitted line segments of the second obstacle; And / or, determining the fusion point of the second storage location corner point based on the position information of the third reference point includes: Based on the position information of the third reference point, a third reference line is determined; wherein the third reference line passes through the third reference point and is parallel to the warehousing line; Determine the position information of the intersection of the third reference line and the second preset area as the fusion point of the second storage location corner point.

9. The method according to claim 1, characterized in that Before determining, in response to the presence of a first obstacle in the first preset area of ​​the first storage location corner point, a fusion point corresponding to the first storage location corner point based on position information of the first obstacle, the method includes: Obtaining obstacle information within a region of interest of the vehicle; The obstacle information includes a plurality of fitting line segments corresponding to a plurality of obstacles located within the region of interest.

10. The method according to claim 9, characterized in that The step of determining the region of interest comprises: Determining a target posture of the vehicle based on the position information of the target location; The region of interest is determined based on the current position of the vehicle and the target position of the vehicle.

11. A parking device, characterized in that: The device comprises: An acquisition module is used to acquire the location information of a target storage location; wherein the location information of the target storage location includes the location information of a preset number of storage location corner points; a determination module configured to, in response to a first obstacle existing within a first preset area of ​​a first storage location corner point, determine a fusion point corresponding to the first storage location corner point based on position information of the first obstacle; wherein the first storage location corner point is a storage location corner point located on a storage entry line of the target storage location; An updating module, configured to update the position information of the first storage location corner point to the position information of the corresponding fusion point; The planning module is used to plan a parking path for the vehicle to park in the target storage location based on the updated position information of the target storage location.

12. An electronic device, characterized in that: comprising a memory and a processor coupled to each other, The memory stores program instructions; The processor is configured to execute program instructions stored in the memory to implement the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program instructions, and the program instructions can be executed by a processor to implement the method according to any one of claims 1 to 10.

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