Automatic parking method and device, electronic equipment and computer readable storage medium

Abstract

The invention provides an automatic parking method and device, electronic equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: performing parking space sensing processing on the surrounding environment of a vehicle to determine a target parking space; according to the position of the target parking space and the initial position of the own vehicle, carrying out pose adjustment processing on the own vehicle, so that the own vehicle is located in an extension area of the target parking space; wherein the extension area of the target parking space is obtained by extending according to a parking space line in the length direction of the target parking space; and controlling the vehicle to drive from the extension area of the target parking space to the target parking space. By means of the automatic parking method and device, scratching can be avoided in the automatic parking process, and the safety of automatic parking is improved.

Description

Technical Field

[0001] The present application relates to vehicle technology, and more particularly to an automatic parking method, device, electronic device, computer-readable storage medium, and computer program product. Background Art

[0002] With the rapid development of vehicle technology and computer technology, intelligent driving has become an important development direction of the automotive industry. Among them, automatic parking technology, as an important part of intelligent driving, aims to solve problems such as difficult and cumbersome parking, and can improve driving comfort and convenience.

[0003] The automatic parking solutions provided by related technologies mainly focus on parking efficiency, that is, how to control the vehicle to park quickly in the parking space. However, for some narrow parking spaces such as mechanical parking spaces, the vehicle is likely to be scratched during the automatic parking process, for example, scratched against the raised part of the mechanical parking space, resulting in low safety of automatic parking. Summary of the invention

[0004] The present application provides an automatic parking method, device, electronic device, computer-readable storage medium and computer program product, which can avoid scratches during the automatic parking process and improve the safety of automatic parking.

[0005] The technical solution of this application is implemented as follows:

[0006] The present application provides an automatic parking method, comprising:

[0007] Perform parking space perception processing on the surrounding environment of the vehicle to determine the target parking space;

[0008] Performing a posture adjustment process on the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in an extended area of ​​the target parking space; wherein the extended area of ​​the target parking space is obtained by extending a parking space line in a length direction of the target parking space;

[0009] The vehicle is controlled to travel from an extension area of ​​the target parking space to the target parking space.

[0010] The present application provides an automatic parking device, comprising:

[0011] The parking space sensing module is used to sense the surrounding environment of the vehicle and determine the target parking space;

[0012] A control module, configured to adjust the posture of the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in an extended area of ​​the target parking space; wherein the extended area of ​​the target parking space is obtained by extending the parking space line in the length direction of the target parking space;

[0013] The control module is further used to control the vehicle to travel from the extension area of ​​the target parking space to the target parking space.

[0014] The present application provides an electronic device, including:

[0015] A memory for storing executable instructions;

[0016] The processor is used to implement the automatic parking method provided in the present application when executing the executable instructions stored in the memory.

[0017] The present application provides a computer-readable storage medium storing executable instructions for causing a processor to execute the instructions to implement the automatic parking method provided by the present application.

[0018] The present application provides a computer program product, which includes executable instructions for causing a processor to execute and implement the automatic parking method provided by the present application.

[0019] This application has the following beneficial effects:

[0020] The present application performs parking space sensing processing on the surrounding environment of the vehicle to determine the target parking space, and performs posture adjustment processing on the vehicle according to the position of the target parking space and the initial position of the vehicle, so that the vehicle is located in the extended area of ​​the target parking space, wherein the extended area of ​​the target parking space is obtained by extending the parking space line in the length direction of the target parking space. In this way, the vehicle is adjusted to the extended area of ​​the target parking space before entering the target parking space, and there is no need to perform a large posture adjustment when controlling the vehicle to drive from the extended area of ​​the target parking space to the target parking space, which can effectively avoid scratches and improve the safety of automatic parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a schematic diagram of the architecture of the automatic parking system provided in an embodiment of the present application;

[0023] Figure 2 is a structural schematic diagram of a vehicle-mounted device provided in an embodiment of the present application;

[0024] Figure 3A is a first flow chart of the automatic parking method provided in an embodiment of the present application;

[0025] Figure 3B is a second flow chart of the automatic parking method provided in an embodiment of the present application;

[0026] Figure 4 is a schematic diagram of a parking scenario provided in an embodiment of the present application;

[0027] Figure 5 is a schematic diagram of a mechanical parking space provided in an embodiment of the present application;

[0028] Fig. 6A is a first schematic diagram of path planning provided in an embodiment of the present application;

[0029] Figure 6B is a second schematic diagram of path planning provided in an embodiment of the present application;

[0030] Figure 6C is a third schematic diagram of path planning provided in an embodiment of the present application;

[0031] Fig.6D This is the fourth schematic diagram of the path planning provided in the embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0033] In the following description, reference is made to "some embodiments", which describes a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. In the following description, reference is made to the term "multiple" to mean at least two.

[0034] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0036] The embodiments of the present application provide an automatic parking method, device, electronic device, computer-readable storage medium, and computer program product, which can avoid scratches during the automatic parking process and improve the safety of automatic parking. The following describes an exemplary application of the electronic device provided by the embodiments of the present application. The electronic device provided by the embodiments of the present application can be implemented as a vehicle-mounted device or as a server, wherein the vehicle-mounted device is a general term for various electronic components in a vehicle.

[0037] See also Figure 1 , Figure 1 It is a schematic diagram of the architecture of the automatic parking system 100 provided in an embodiment of the present application. The vehicle-mounted device 400 is connected to the server 200 via the network 300, wherein the network 300 may be a wide area network or a local area network, or a combination of the two.

[0038] In some embodiments, taking the electronic device as a vehicle-mounted device as an example, the automatic parking method provided in the embodiment of the present application can be implemented by the vehicle-mounted device. For example, the vehicle-mounted device 400 performs parking space sensing processing on the surrounding environment of the vehicle to determine the target parking space. Figure 1 Parking spaces 500-1, 500-2, and 500-3 are shown as examples, with parking space 500-2 being the target parking space as an example; the position of the vehicle is adjusted according to the position of the target parking space and the initial position of the vehicle, so that the vehicle is located in the extension area of ​​the target parking space; the vehicle is controlled to travel from the extension area of ​​the target parking space to the target parking space. In the above manner, the vehicle-mounted device 400 independently realizes automatic parking, which can be applied to various parking scenarios, such as scenarios without network or with poor network conditions.

[0039] In some embodiments, taking the electronic device as a server as an example, the automatic parking method provided in the embodiment of the present application can be implemented by the server. For example, the vehicle-mounted device 400 collects and processes data about the surrounding environment of the vehicle through the vehicle-mounted sensor to obtain environmental data (such as environmental images), and sends the environmental data to the server 200; the server 200 identifies the environmental data to obtain the target parking space; the server 200 adjusts the posture of the vehicle according to the position of the target parking space and the initial position of the vehicle, so that the vehicle is located in the extended area of ​​the target parking space, wherein the server 200 adjusts the posture of the vehicle by sending a control instruction to the vehicle-mounted device 400; the server 200 controls the vehicle to drive from the extended area of ​​the target parking space to the target parking space, wherein the server 200 controls the vehicle to drive from the extended area of ​​the target parking space to the target parking space by sending a control instruction to the vehicle-mounted device 400. In the above method, the server 200 centrally undertakes the computing tasks, which can improve the computing efficiency and reduce the computing pressure of the vehicle-mounted device 400.

[0040] In some embodiments, the vehicle-mounted device 400 or the server 200 can implement the automatic parking method provided in the embodiments of the present application by running a computer program. For example, the computer program can be a native program or software module in the operating system; it can be a native application (APP, Application), that is, a program that needs to be installed in the operating system to run; it can also be a small program, that is, a program that can be run only by downloading it to a browser environment; it can also be a small program that can be embedded in any APP, and the small program can be controlled to run or closed by the user. In short, the above-mentioned computer program can be an application, module or plug-in in any form.

[0041] Taking the electronic device provided in the embodiment of the present application as an example, which is a vehicle-mounted device, it can be understood that in the case where the electronic device is a server, Figure 2 Parts of the structure shown in FIG. 1 (such as a user interface, a presentation module, and an input processing module) may be omitted. Figure 2 , Figure 2 is a structural diagram of a vehicle-mounted device 400 provided in an embodiment of the present application, Figure 2 The vehicle-mounted device 400 shown includes: at least one processor 410, a memory 450, at least one network interface 420 and a user interface 430. The various components in the vehicle-mounted device 400 are coupled together via a bus system 440. It is understood that the bus system 440 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 440 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the bus system 440 is not described in detail. Figure 2 Various buses are labeled as bus system 440 .

[0042] Processor 410 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0043] The user interface 430 includes one or more output devices 431 that enable presentation of media content, including one or more speakers and / or one or more visual display screens. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as microphones, touch screen displays, cameras, other input buttons and controls.

[0044] The memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard disk drives, optical disk drives, etc. The memory 450 may optionally include one or more storage devices that are physically remote from the processor 410.

[0045] The memory 450 includes a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 450 described in the embodiments of the present application is intended to include any suitable type of memory.

[0046] In some embodiments, memory 450 can store data to support various operations, examples of which include programs, modules, and data structures, or a subset or superset thereof, as exemplarily described below.

[0047] Operating system 451, including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

[0048] A network communication module 452, used to reach other electronic devices via one or more (wired or wireless) network interfaces 420, exemplary network interfaces 420 include: Bluetooth, Wireless Compatibility Certification (WiFi), and Universal Serial Bus (USB), etc.;

[0049] a presentation module 453 for enabling presentation of information via one or more output devices 431 (e.g., display screen, speaker, etc.) associated with the user interface 430 (e.g., a user interface for operating peripherals and displaying content and information);

[0050] The input processing module 454 is used to detect one or more user inputs or interactions from one of the one or more input devices 432 and translate the detected inputs or interactions.

[0051] In some embodiments, the automatic parking device provided in the embodiments of the present application can be implemented in a software manner. Figure 2 The automatic parking device 455 stored in the memory 450 is shown, which can be software in the form of a program and a plug-in, including the following software modules: a parking space sensing module 4551 and a control module 4552. These modules are logical, so they can be arbitrarily combined or further split according to the functions implemented. The functions of each module will be described below.

[0052] The automatic parking method provided in the embodiment of the present application will be described in combination with the exemplary application and implementation of the electronic device provided in the embodiment of the present application.

[0053] See also Figure 3A , Figure 3A is a flow chart of the automatic parking method provided by the embodiment of the present application, which will be combined with Figure 3A The steps shown are explained.

[0054] In step 101, a parking space perception process is performed on the surrounding environment of the vehicle to determine a target parking space.

[0055] Here, the parking space sensing process is performed on the surrounding environment of the vehicle to determine an empty target parking space, where "empty" means that there are no other vehicles or other obstacles parked in the target parking space, and the target parking space can be supported. For example, the vehicle-mounted sensor of the vehicle can collect and process data on the surrounding environment of the vehicle to obtain environmental data, and identify the target parking space based on the environmental data.

[0056] In some embodiments, before performing parking space sensing processing on the surrounding environment of the own vehicle to determine the target parking space, the automatic parking method also includes: in response to the automatic parking instruction, performing lane line sensing processing on the surrounding environment of the own vehicle to determine the target lane line, and controlling the own vehicle to travel in a direction parallel to the target lane line; the above-mentioned parking space sensing processing on the surrounding environment of the own vehicle to determine the target parking space can be achieved in the following manner: in the process of controlling the own vehicle to travel in a direction parallel to the target lane line, performing parking space sensing processing on the surrounding environment of the own vehicle to determine the target parking space.

[0057] Here, automatic parking space search can be realized. For example, when an automatic parking instruction is received, the lane line sensing process of the vehicle's surrounding environment is performed to determine the target lane line, and the vehicle is controlled to travel in a direction parallel to the target lane line (i.e., the relative distance between the vehicle and the target lane line is kept unchanged). In order to ensure the accuracy of the subsequent parking space sensing process, a uniform speed can be used. Similar to the parking space sensing process, in the lane line sensing process, the vehicle's on-board sensors can also be used to collect data about the vehicle's surrounding environment to obtain environmental data, and the environmental data can be identified to obtain the target lane line.

[0058] In the process of controlling the ego vehicle to travel in a direction parallel to the target lane line, the target parking space is determined by performing parking space perception processing on the surrounding environment of the ego vehicle, that is, searching for an empty target parking space through continuous parking space perception processing.

[0059] The above method can realize automatic parking space search without manual driving by the user. At the same time, by controlling the vehicle to travel in a direction parallel to the target lane line, safety can be ensured and accidents that may be caused by the vehicle deviating from the target lane line can be avoided.

[0060] It is worth noting that the embodiments of the present application do not limit the triggering method of the automatic parking command. For example, it can be triggered by the vehicle system (i.e., the user manually operates the vehicle system), or it can be remotely triggered by a specific terminal device (such as a mobile phone, smart remote control key, etc.). In the latter method, the user does not need to be in the vehicle, which can avoid the problem that the user has difficulty getting out of the vehicle after the vehicle is parked in the target parking space. In some embodiments, the automatic parking command can be divided into a mechanical parking space parking command and a conventional parking command. The mechanical parking space parking command is applicable to the automatic parking method provided by the embodiments of the present application, and the conventional parking command is applicable to the conventional automatic parking method provided by the relevant technology. In this way, the user can choose to trigger the appropriate automatic parking command according to the specific situation of the parking space, thereby improving the flexibility and accuracy of automatic parking. For example, when the parking space in the surrounding environment of the vehicle is a mechanical parking space, the mechanical parking space parking command can be selected to be triggered.

[0061] In some embodiments, the above-mentioned response to the automatic parking instruction and determination of the target lane line by performing lane line sensing processing on the environment around the vehicle can be achieved in the following manner: in response to the automatic parking instruction, parking space sensing processing is performed on the environment around the vehicle; when the target parking space is not determined by the parking space sensing processing, lane line sensing processing is performed on the environment around the vehicle to determine the target lane line.

[0062] Here, when receiving the automatic parking instruction, the parking space sensing process can be performed on the surrounding environment of the vehicle first. When the target parking space is determined through the parking space sensing process, the subsequent steps 102 and 103 are executed, which can improve the efficiency of automatic parking; when the target parking space is not determined through the parking space sensing process, a parking space search is performed, that is, the lane line sensing process is performed on the surrounding environment of the vehicle to determine the target lane line, and the vehicle is controlled to travel in a direction parallel to the target lane line. In the process of controlling the vehicle to travel in a direction parallel to the target lane line, the parking space sensing process is performed on the surrounding environment of the vehicle to determine the target parking space.

[0063] In some embodiments, the above-mentioned parking space perception processing of the vehicle's surroundings to determine the target parking space can be achieved in the following way: the vehicle's surroundings are photographed and processed by the vehicle's onboard camera to obtain an environmental image; and the environmental image is recognized and processed to determine the target parking space.

[0064] Here, the target parking space can be determined by visual perception, which is low-cost and can ensure perception accuracy. For example, the vehicle's onboard camera can be used to capture and process the surrounding environment of the vehicle to obtain an environmental image, and then the environmental image is recognized and processed to determine the target parking space. Among them, the onboard camera can use a surround view camera, which can improve the perception range.

[0065] In some embodiments, the above-mentioned recognition and processing of the environmental image to determine the target parking space can be achieved in the following manner: performing at least one of the following processing: identifying whether there is a mechanical parking space including corner points and convex points in the environmental image, and determining the identified mechanical parking space as the target parking space; identifying whether there is a non-mechanical parking space including corner points but not convex points in the environmental image, and determining the identified non-mechanical parking space as the target parking space.

[0066] Here, the following two identification methods are provided:

[0067] 1) Identify whether there is a mechanical parking space including corner points and convex points in the environment image, and determine the identified mechanical parking space as the target parking space.

[0068] 2) Identify whether there is a non-mechanical parking space including corner points but not convex points in the environment image, and determine the identified non-mechanical parking space as the target parking space.

[0069] The above two identification methods can be used either one of them, that is, only supporting the identification of mechanical parking spaces or only supporting the identification of non-mechanical parking spaces; or both can be used, that is, the identified mechanical parking spaces or non-mechanical parking spaces are determined as target parking spaces. In this way, it is more flexible and can meet various parking needs.

[0070] It is worth noting that the corner point refers to the intersection between different parking lines in a parking space, and a parking space usually includes 4 parking lines and 4 corner points. Compared with non-mechanical parking spaces, mechanical parking spaces also include steps (uphill steps), so the identifiable points of mechanical parking spaces include not only corner points but also convex points, where convex points refer to the endpoints (usually 2) of the intersection line between the steps of the mechanical parking space and the plane (the plane used to park the vehicle). That is, a mechanical parking space includes 4 corner points and 2 convex points, while a non-mechanical parking space includes 4 corner points and no convex points.

[0071] In step 102, the posture of the ego vehicle is adjusted according to the position of the target parking space and the initial position of the ego vehicle so that the ego vehicle is located in the extended area of ​​the target parking space; wherein the extended area of ​​the target parking space is obtained by extending the parking space line in the length direction of the target parking space.

[0072] Here, before controlling the vehicle to drive into the target parking space, the vehicle's posture is adjusted according to the position of the target parking space and the initial position of the vehicle, so that the vehicle is located in the extended area of ​​the target parking space, wherein the extended area of ​​the target parking space is obtained by extending the parking space lines in the length direction of the target parking space, and the parking space lines in the length direction are also called longitudinal parking space lines, that is, the two longest parking space lines.

[0073] In some embodiments, “the own vehicle is located in the extended area of ​​the target parking space” means that all components of the own vehicle are located in the extended area of ​​the target parking space.

[0074] In step 103, the vehicle is controlled to travel from the extension area of ​​the target parking space to the target parking space.

[0075] Here, the vehicle is controlled to drive from the extended area of ​​the target parking space to the target parking space. Since the posture adjustment process has been performed in step 102, there is no need to significantly adjust the posture here. For example, the vehicle can be controlled to drive in a straight line from the extended area of ​​the target parking space to the target parking space. In this way, the vehicle can be effectively prevented from being scratched and the safety of automatic parking can be improved.

[0076] It is worth noting that in step 103, the front of the vehicle may enter the target parking space first, or the rear of the vehicle may enter the target parking space first, and there is no limitation on this.

[0077] In some embodiments, the above-mentioned posture adjustment processing of the self-vehicle according to the position of the target parking space and the initial position of the self-vehicle can be achieved in the following manner: the posture adjustment processing of the self-vehicle according to the position of the target parking space and the initial position of the self-vehicle can be achieved so that the self-vehicle is located in the extended area of ​​the target parking space; the above-mentioned control of the self-vehicle to drive from the extended area of ​​the target parking space to the target parking space can be achieved in the following manner: the self-vehicle is controlled to drive in a straight line from the central position of the extended area of ​​the target parking space to the central position of the target parking space.

[0078] Here, during the posture adjustment process, the vehicle can be adjusted to the center of the extended area of ​​the target parking space, and the center line of the length direction of the vehicle coincides with the center line of the length direction of the target parking space (the center line involved in the embodiment of the present application extends infinitely). Then, the vehicle is controlled to drive in a straight line from the center of the extended area of ​​the target parking space to the center of the target parking space. Since this process only requires straight-line driving and no direction adjustment is required, the safety and standardization of parking can be further improved.

[0079] In some embodiments, the target parking space includes steps; when controlling the vehicle to travel from an extension area of ​​the target parking space to the target parking space, the automatic parking method further includes: when it is detected that the vehicle is located on the steps of the target parking space, amplifying the torque of the vehicle.

[0080] Here, the vehicle can be controlled to travel at a constant speed from the extended area of ​​the target parking space to the target parking space. During this process, for the case where the target parking space includes steps (for example, the target parking space is a mechanical parking space), when it is detected that the vehicle is located on the steps of the target parking space, the torque of the vehicle can be amplified due to the resistance of the steps. The amplitude of the amplification can be based on ensuring that the vehicle travels at a constant speed. Of course, this does not constitute a limitation on the embodiments of the present application. For example, the torque of the vehicle can also be amplified according to a preset amplitude.

[0081] When it is detected that the vehicle has crossed the steps of the target parking space, there is no need to amplify the torque of the vehicle. At this time, the amplified torque can be directly used, or the torque of the vehicle can be reduced to ensure that the vehicle travels at a constant speed. There is no limitation on this.

[0082] Through the above method, it can be ensured that the vehicle smoothly drives into the target parking space, avoiding problems such as slow speed or inability to cross steps caused by insufficient torque.

[0083] In some embodiments, the automatic parking method further includes: detecting the deceleration of the vehicle; and when the deceleration of the vehicle is greater than a deceleration threshold, determining that the vehicle is located at a step of the target parking space.

[0084] Here, whether the vehicle is located at the step of the target parking space can be determined by the change in the deceleration of the vehicle. For example, in the process of controlling the vehicle to drive from the extension area of ​​the target parking space to the target parking space, the deceleration of the vehicle is detected in real time. When the deceleration of the vehicle is greater than the deceleration threshold, it is determined that the vehicle is located at the step of the target parking space. Thereafter, when the deceleration of the vehicle is less than or equal to the deceleration threshold, it is determined that the vehicle has crossed the step of the target parking space.

[0085] In some embodiments, the target parking space includes steps; when controlling the vehicle to travel from an extension area of ​​the target parking space to the target parking space, the automatic parking method further includes: when it is detected that the vehicle is located on the steps of the target parking space, controlling the rearview mirror of the vehicle to fold.

[0086] Here, if the target parking space includes steps, when the vehicle is detected to be on the steps of the target parking space, the rearview mirror of the vehicle is controlled to fold, which can reduce the width of the vehicle body, effectively avoid scratches on the vehicle (especially scratches on the rearview mirror), and improve the success rate of automatic parking. Later, when the vehicle is parked out of the target parking space, the rearview mirror of the vehicle can be controlled to unfold to ensure that the rearview mirror can be used normally.

[0087] like Figure 3AAs shown, the embodiment of the present application performs parking space sensing processing on the surrounding environment of the self-vehicle to determine the target parking space, and performs posture adjustment processing on the self-vehicle according to the position of the target parking space and the initial position of the self-vehicle, so that the self-vehicle is located in the extended area of ​​the target parking space, wherein the extended area of ​​the target parking space is obtained by extending the parking space line in the length direction of the target parking space. In this way, the self-vehicle is adjusted to the extended area of ​​the target parking space before entering the target parking space, and there is no need to perform a large posture adjustment when controlling the self-vehicle to drive from the extended area of ​​the target parking space to the target parking space, which can effectively avoid scratches and improve the safety of automatic parking.

[0088] In some embodiments, see Figure 3B , Figure 3B is a flow chart of the automatic parking method provided by an embodiment of the present application. Figure 3A The illustrated step 102 may be updated to step 201 .

[0089] In step 201, the posture of the ego vehicle is adjusted according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in the extension area of ​​the target parking space, and the angle between the center line of the length direction of the ego vehicle and the center line of the length direction of the target parking space is less than or equal to a first preset angle value.

[0090] Here, in addition to positioning the vehicle in the extended area of ​​the target parking space, the purpose of the posture adjustment process also includes ensuring that the angle between the center line of the length direction of the vehicle and the center line of the length direction of the target parking space is less than or equal to a first preset angle value, thereby minimizing subsequent scratches on the vehicle.

[0091] It is worth noting that the angle between the two center lines involved in the embodiment of the present application refers to the smaller angle of the two angles between the two center lines. For example, the two center lines constitute two angles of 10 degrees and 170 degrees respectively, then the embodiment of the present application only considers the angle of 10 degrees.

[0092] In some embodiments, the first preset angle value can be set to 0, that is, the center line of the length direction of the self-vehicle is constrained to be parallel or coincident with the center line of the length direction of the target parking space, which can maximize safety. Of course, considering that in actual situations, there may be certain limitations in the posture adjustment process, such as the small space around the self-vehicle making it impossible to adjust the above angle to 0, based on this consideration, the first preset angle value can also be set to a value greater than 0, such as 1 degree, 5 degrees, etc., which can improve the robustness of the parking process.

[0093] In some embodiments, when the self-vehicle is located in the initial position, the front of the self-vehicle is located in the extension area of ​​the first adjacent parking space of the target parking space, and the angle between the center line of the length direction of the self-vehicle and the center line of the length direction of the first adjacent parking space is greater than or equal to a second preset angle value; the above-mentioned posture adjustment processing of the self-vehicle according to the position of the target parking space and the initial position of the self-vehicle can be implemented in the following manner, so that the self-vehicle is located in the extension area of ​​the target parking space, and the angle between the center line of the length direction of the self-vehicle and the center line of the length direction of the target parking space is less than or equal to the first preset angle value: control the self-vehicle to travel from the initial position to the first temporary position, So that the front of the own vehicle is located in the extended area of ​​the second adjacent parking space of the target parking space, and the angle between the center line of the own vehicle in the length direction and the center line of the target parking space in the length direction is within the preset angle range; the own vehicle is controlled to travel from the first temporary position toward the target corner point to the second temporary position, so that the distance between the center point of the rear axle of the own vehicle and the target corner point is a preset distance; wherein the target corner point is the corner point in the target parking space that is closest to the initial position; the own vehicle is controlled to travel from the second temporary position to the extended area of ​​the target parking space, so that the angle between the center line of the own vehicle in the length direction and the center line of the target parking space in the length direction is less than or equal to the first preset angle value.

[0094] Here, an example method of posture adjustment processing is provided. First, the initial position of the vehicle is constrained to a certain extent, that is, when the vehicle is located at the initial position, the front of the vehicle is located in the extended area of ​​the first adjacent parking space of the target parking space, and the angle between the center line of the length direction of the vehicle and the center line of the length direction of the first adjacent parking space is greater than or equal to the second preset angle value. Among them, the first adjacent parking space of the target parking space can be the parking space on the left or right of the target parking space, and there is no limitation on this; the second preset angle value is such as 90 degrees, that is, the center line of the length direction of the vehicle is constrained to be perpendicular to the center line of the length direction of the first adjacent parking space. Of course, the second preset angle value can also be set to other values.

[0095] Then, the vehicle is controlled to travel from the initial position to the first temporary position so that the front of the vehicle is located in the extension area of ​​the second adjacent parking space of the target parking space, and the angle between the center line of the length direction of the vehicle and the center line of the length direction of the target parking space is within a preset angle range, such as 45 to 60 degrees, which can of course be set according to the actual application scenario and is not limited thereto. Among them, if the first adjacent parking space of the target parking space is the parking space on the left side of the target parking space, the second adjacent parking space of the target parking space is the parking space on the right side of the target parking space; if the first adjacent parking space of the target parking space is the parking space on the right side of the target parking space, the second adjacent parking space of the target parking space is the parking space on the left side of the target parking space.

[0096] Then, the corner point in the target parking space that is closest to the initial position (called the target corner point) is taken as the target, and the vehicle is controlled to travel from the first temporary position toward the target corner point to the second temporary position, so that the distance between the center point of the rear axle of the vehicle and the target corner point is a preset distance. The preset distance is, for example, 30 centimeters. Of course, it can also be set according to the actual application scenario, and is not limited to this.

[0097] Finally, the vehicle is controlled to travel from the second temporary position to the extended area of ​​the target parking space so that the angle between the center line of the length direction of the vehicle and the center line of the length direction of the target parking space is less than or equal to the first preset angle value, completing the entire posture adjustment process.

[0098] In the above method, the front end of the vehicle is first controlled to reach the extended area of ​​the second adjacent parking space of the target parking space, and then the vehicle is controlled to drive toward the target corner point, and finally the vehicle is controlled to drive to the extended area of ​​the target parking space. Through the above-mentioned staged control, the posture adjustment can be achieved quickly and accurately in a limited space, which is suitable for various parking scenarios.

[0099] exist Figure 3B middle, Figure 3A The illustrated step 103 may be updated to step 202 .

[0100] In step 202, the vehicle is controlled to travel straight from the extension area of ​​the target parking space to the target parking space.

[0101] Since the vehicle is located in the extended area of ​​the target parking space and the angle between the center line of the length direction of the vehicle and the center line of the length direction of the target parking space is less than or equal to the first preset angle value, the vehicle is controlled to drive in a straight line from the extended area of ​​the target parking space to the target parking space, and in this process it can be ensured that the vehicle will not be scratched.

[0102] like Figure 3B As shown, the embodiment of the present application adjusts the posture of the ego vehicle so that the ego vehicle is located in the extended area of ​​the target parking space, and the angle between the center line of the length direction of the ego vehicle and the center line of the length direction of the target parking space is less than or equal to a first preset angle value. Based on this, when controlling the ego vehicle to drive from the extended area of ​​the target parking space to the target parking space, it only needs to drive in a straight line. This can reduce the control complexity, solve the problem of inconvenience in adjusting the driving direction of the ego vehicle due to the small space of the target parking space, and at the same time ensure that the ego vehicle will not be scratched.

[0103] The following will describe an exemplary application of the embodiment of the present application in a practical application scenario. For ease of understanding, the target parking space is described as a mechanical parking space, but the embodiment of the present application can also be applied to other types of parking spaces.

[0104] The automatic parking method provided in the embodiment of the present application can be implemented collaboratively through the human-computer interaction module, perception module, planning module, control module and execution module in the vehicle, wherein the human-computer interaction module is responsible for receiving the mechanical parking space parking instruction sent by the user's mobile phone (it may also be other terminal devices, here taking the mobile phone as an example), and sending the relevant information in the automatic parking process (such as the perceived position of the target parking space) to the user's mobile phone; the perception module is responsible for performing parking space perception processing to determine the target parking space; the planning module is responsible for planning a suitable parking path according to the output of the perception module, and outputting it to the control module; the control module is responsible for issuing control instructions to the execution module according to the parking path output by the planning module; the execution module is responsible for performing corresponding actions according to the control instructions output by the control module.

[0105] Next, the automatic parking method provided in the embodiment of the present application will be explained in the form of steps.

[0106] Step 1) When the user arrives by car Figure 4 When the car reaches the position shown, the user gets out of the car and selects the "Mechanical Parking Space" mode on the mobile phone APP. The mobile phone APP transmits the mechanical parking space parking instruction to the control module and perception module of the vehicle through Bluetooth communication. Among them, the mobile phone APP refers to the APP used to realize the automatic parking function. Of course, other functions can also be integrated, such as starting and shutting down the vehicle; the mechanical parking space parking instruction can be reflected as a signal of "<Parking Mode> = Mechanical Parking Space Parking", of course, it is not limited to this. It is worth noting that Figure 4 Three parking spaces are shown exemplarily; Figure 4 The left side of the vehicle shown is the front of the vehicle, and the right side is the rear of the vehicle; Figure 4 The square below the vehicle is the lane line.

[0107] Step 2) When the perception module receives the mechanical parking space parking instruction, it enters the lane line recognition mode and the parking space recognition mode. In the lane line recognition mode, the vehicle-mounted surround view camera is used to collect environmental images, and the lane line in front of the vehicle (called the target lane line) is recognized based on the environmental image, and the <relative distance between the vehicle and the target lane line> signal is sent to the control module; in the parking space recognition mode, the vehicle-mounted surround view camera is used to collect environmental images, and the presence of a mechanical parking space is recognized based on the environmental image. The mechanical parking space can be recognized by point recognition. For ease of understanding, the embodiment of the present application provides the following Figure 5 A top view of a mechanical parking space is shown. The mechanical parking space includes 4 corner points and 2 convex points (the conventional parking space only includes 4 corner points). Therefore, the parking space that meets the point characteristics in the environment image can be determined as a mechanical parking space. It is worth noting that Figure 5 The steps shown actually have an upward slope.

[0108] Step 3) When the control module receives the mechanical parking space parking instruction and the signal of the relative distance between the vehicle and the target lane line, it sends the signal of the steering wheel steering angle to the execution module to control the vehicle to remain parallel to the target lane line; at the same time, the control module continuously sends the signals of deceleration, torque, gear position, etc. to the execution module to control the vehicle to drive at a constant speed. In this way, the vehicle is controlled to drive forward at a constant speed to search for an available mechanical parking space without manual driving by the user, which can improve the user experience.

[0109] Step 4) When the vehicle is driving at a constant speed in a direction parallel to the target lane line, if the perception module identifies an empty mechanical parking space, it sends a "<Available parking space> = mechanical parking space parking" signal to the planning module. Figure 4 The middle parking space among the three parking spaces shown is used as an example for explanation as the target parking space to be parked.

[0110] Step 5) When the planning module receives the "<Available parking space> = mechanical parking space parking" signal output by the perception module, it plans four parking paths according to the position of the target parking space and the initial position of the ego vehicle. Through the four parking paths, the ego vehicle can adjust its position to the center of the extended area of ​​the target parking space before parking in the target parking space. In this way, the ego vehicle can be accurately controlled to park in the target parking space, thereby avoiding the ego vehicle from scratching the protruding part of the target parking space due to the need to adjust the direction when entering the parking space.

[0111] Next, the planning process of four parking paths is illustrated.

[0112] ① Path 1 (vehicle moving forward).

[0113] like Fig. 6A As shown, when the vehicle is at the initial position, the front of the vehicle is located in the extension area of ​​the first adjacent parking space of the target parking space (here, the parking space on the right of the target parking space), and the center line of the length direction of the vehicle is perpendicular to the center line of the length direction of the first adjacent parking space. Path 1 starts from the initial position of the vehicle and ends at the first temporary position, wherein the front of the vehicle at the first temporary position is located in the extension area of ​​the second adjacent parking space of the target parking space (here, the parking space on the left of the target parking space); and the angle between the center line (central axis) of the length direction of the vehicle at the first temporary position and the center line of the length direction of the target parking space is 45 to 60 degrees.

[0114] ② Path 2 (vehicle reverses).

[0115] like Figure 6BAs shown, path 2 starts from the first temporary position and ends at the second temporary position, wherein the distance between the center point of the rear axle of the vehicle at the second temporary position and the target corner point is 30 cm, and the target corner point refers to the corner point in the target parking space that is closest to the initial position of the vehicle, that is, the corner point in the lower right corner.

[0116] ③ Path 3 (vehicle moves forward).

[0117] like Figure 6C As shown, path 3 starts from the second temporary position and ends at the center of the extended area of ​​the target parking space, that is, when the vehicle reaches the end of path 3, the center line of the vehicle in the length direction coincides with the center line of the target parking space in the length direction.

[0118] ④ Path 4 (vehicle reverses).

[0119] like Fig.6D As shown, path 4 starts from the center position of the extended area of ​​the target parking space and ends at the center position of the target parking space, that is, during the driving process of path 4, the center line of the length direction of the vehicle is always kept coincident with the center line of the length direction of the target parking space, that is, the vehicle moves backward in a straight line.

[0120] It is worth noting that in the above-mentioned paths 1 to 4, the front and rear of the vehicle can also be interchanged.

[0121] In some embodiments, when the vehicle is located on path 4 (i.e., in the process of backing into the target parking space), the control module monitors the change in the vehicle's deceleration in real time. When the deceleration exceeds the preset deceleration threshold, it proves that the vehicle is located at the step of the target parking space. At this time, the control module sends a <system controls the vehicle to go up the steps> signal to the execution module, and the control module continues to send a signal to increase the torque to the execution module until the vehicle crosses the steps. In this way, it is ensured that the vehicle has enough power to cross the steps.

[0122] When the execution module receives the <system controls the vehicle to go up the stairs> signal, it sends the <rearview mirror folding> signal to control the rearview mirror to fold up. In this way, the width of the vehicle body can be reduced, the rearview mirror can be prevented from being scratched, and the success rate of automatic parking can be improved.

[0123] The embodiments of the present application can at least achieve the following technical effects: 1) optimize the parking path planning for mechanical parking spaces and other narrow parking spaces, so that the vehicle's position before parking in the target parking space is more accurate; 2) the mechanical parking space parking mode is activated with one button, and the parking can be completed without the user taking over the entire process; 3) the mechanical parking space steps are automatically identified and the torque is automatically increased to allow the vehicle to be parked smoothly in the parking space; 4) the rearview mirror is intelligently controlled to fold, the width of the vehicle body is reduced, and the chance of scratches at the parking entrance is reduced.

[0124] The following is a description of an exemplary structure of the automatic parking device 455 provided in the embodiment of the present application implemented as a software module. In some embodiments, Figure 2 As shown, the software modules stored in the automatic parking device 455 of the memory 450 may include: a parking space sensing module 4551, which is used to perform parking space sensing processing on the surrounding environment of the ego vehicle to determine the target parking space; a control module 4552, which is used to adjust the posture of the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in the extended area of ​​the target parking space; wherein the extended area of ​​the target parking space is obtained by extending the parking space line in the length direction of the target parking space; the control module 4552 is also used to control the ego vehicle to travel from the extended area of ​​the target parking space to the target parking space.

[0125] In some embodiments, the control module 4552 is also used to: adjust the posture of the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in the extension area of ​​the target parking space, and the angle between the center line of the length direction of the ego vehicle and the center line of the length direction of the target parking space is less than or equal to a first preset angle value; control the ego vehicle to drive in a straight line from the extension area of ​​the target parking space to the target parking space.

[0126] In some embodiments, when the vehicle is located at the initial position, the front of the vehicle is located in the extended area of ​​the first adjacent parking space of the target parking space, and the angle between the center line of the length direction of the vehicle and the center line of the length direction of the first adjacent parking space is greater than or equal to a second preset angle value; the control module 4552 is also used to: control the vehicle to travel from the initial position to the first temporary position, so that the front of the vehicle is located in the extended area of ​​the second adjacent parking space of the target parking space, and the angle between the center line of the length direction of the vehicle and the center line of the length direction of the target parking space is within a preset angle range; control the vehicle to travel from the first temporary position toward the target corner point to the second temporary position, so that the distance between the center point of the rear axle of the vehicle and the target corner point is a preset distance; wherein the target corner point is the corner point in the target parking space that is closest to the initial position; control the vehicle to travel from the second temporary position to the extended area of ​​the target parking space, so that the angle between the center line of the length direction of the vehicle and the center line of the length direction of the target parking space is less than or equal to the first preset angle value.

[0127] In some embodiments, the automatic parking device 455 further includes a parking space search module, which is used to: in response to the automatic parking instruction, perform lane line sensing processing on the surrounding environment of the vehicle to obtain the target lane line, and control the vehicle to travel in a direction parallel to the target lane line; the parking space sensing module 4551 is also used to: in the process of controlling the vehicle to travel in a direction parallel to the target lane line, perform parking space sensing processing on the surrounding environment of the vehicle to determine the target parking space.

[0128] In some embodiments, the parking space sensing module 4551 is further used to: photograph and process the surrounding environment of the vehicle through the vehicle's onboard camera to obtain an environmental image; and identify and process the environmental image to determine the target parking space.

[0129] In some embodiments, the parking space perception module 4551 is also used to: perform at least one of the following processing: identify whether there is a mechanical parking space including corner points and convex points in the environmental image, and determine the identified mechanical parking space as the target parking space; identify whether there is a non-mechanical parking space including corner points but not convex points in the environmental image, and determine the identified non-mechanical parking space as the target parking space.

[0130] In some embodiments, the target parking space includes steps; the control module 4552 is further used to: when it is detected that the vehicle is located on the steps of the target parking space, amplify the torque of the vehicle.

[0131] In some embodiments, the control module 4552 is further used to: detect the deceleration of the vehicle; and when the deceleration of the vehicle is greater than a deceleration threshold, determine that the vehicle is located at the step of the target parking space.

[0132] In some embodiments, the target parking space includes steps; the control module 4552 is further used to control the folding of the rearview mirror of the vehicle when it is detected that the vehicle is located on the steps of the target parking space.

[0133] The embodiment of the present application provides a computer program product or a computer program, which includes executable instructions stored in a computer-readable storage medium. A processor of an electronic device reads the executable instructions from the computer-readable storage medium, and the processor executes the executable instructions, so that the electronic device executes the automatic parking method described in the embodiment of the present application.

[0134] An embodiment of the present application provides a computer-readable storage medium storing executable instructions, wherein executable instructions are stored. When the executable instructions are executed by a processor, the processor will be caused to execute the automatic parking method provided by the embodiment of the present application.

[0135] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface storage, optical disk, or CD-ROM; or it may be various devices including one or any combination of the above memories.

[0136] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0137] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0138] As an example, the executable instructions may be deployed to be executed on one electronic device, or on multiple electronic devices located at one site, or on multiple electronic devices distributed at multiple sites and interconnected by a communication network.

[0139] The above are only embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. An automatic parking method, It is characterized in that include: Perform parking space perception processing on the surrounding environment of the vehicle to determine the target parking space; Performing a posture adjustment process on the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in an extended area of ​​the target parking space; wherein the extended area of ​​the target parking space is obtained by extending a parking space line in a length direction of the target parking space; The vehicle is controlled to travel from an extension area of ​​the target parking space to the target parking space.

2. The method according to claim 1, It is characterized in that The step of adjusting the posture of the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle so that the ego vehicle is located in an extended area of ​​the target parking space includes: Performing a posture adjustment process on the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in an extended area of ​​the target parking space, and an angle between a center line of the ego vehicle in a longitudinal direction and a center line of the target parking space in a longitudinal direction is less than or equal to a first preset angle value; The controlling the vehicle to travel from the extension area of ​​the target parking space to the target parking space includes: The vehicle is controlled to travel straight from the extension area of ​​the target parking space to the target parking space.

3. The method according to claim 2, It is characterized in that When the ego vehicle is located at the initial position, the front of the ego vehicle is located in an extension area of ​​a first adjacent parking space of the target parking space, and an angle between a center line of the ego vehicle in a length direction and a center line of the first adjacent parking space in a length direction is greater than or equal to a second preset angle value; performing posture adjustment processing on the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle so that the ego vehicle is located in an extension area of ​​the target parking space, and an angle between a center line of the ego vehicle in a length direction and a center line of the target parking space in a length direction is less than or equal to a first preset angle value, includes: Controlling the self-vehicle to travel from the initial position to the first temporary position so that the front of the self-vehicle is located in the extension area of ​​the second adjacent parking space of the target parking space, and the angle between the center line of the length direction of the self-vehicle and the center line of the length direction of the target parking space is within a preset angle range; Control the vehicle to travel from the first temporary position toward a target corner point to a second temporary position, so that the distance between the center point of the rear axle of the vehicle and the target corner point is a preset distance; wherein the target corner point is the corner point in the target parking space that is closest to the initial position; The vehicle is controlled to travel from the second temporary position to the extended area of ​​the target parking space so that an angle between a center line of the length direction of the vehicle and a center line of the length direction of the target parking space is less than or equal to the first preset angle value.

4. The method according to claim 1, It is characterized in that Before performing parking space sensing processing on the surrounding environment of the vehicle to determine the target parking space, the method further includes: In response to the automatic parking instruction, performing lane line sensing processing on the surrounding environment of the self-vehicle to obtain a target lane line, and controlling the self-vehicle to travel in a direction parallel to the target lane line; The performing parking space sensing processing on the surrounding environment of the vehicle to determine the target parking space includes: In the process of controlling the ego vehicle to travel in a direction parallel to the target lane line, a parking space perception process is performed on the surrounding environment of the ego vehicle to determine the target parking space.

5. The method according to claim 1, It is characterized in that The performing parking space sensing processing on the surrounding environment of the vehicle to determine the target parking space includes: The vehicle-mounted camera of the vehicle is used to capture and process the surrounding environment of the vehicle to obtain an environment image; The environment image is identified and processed to determine a target parking space.

6. The method according to claim 5, It is characterized in that The step of identifying and processing the environment image to determine the target parking space includes: Perform at least one of the following actions: Identify whether there is a mechanical parking space including corner points and convex points in the environment image, and determine the identified mechanical parking space as a target parking space; It is identified whether there is a non-mechanical parking space including corner points and no convex points in the environment image, and the identified non-mechanical parking space is determined as a target parking space.

7. The method according to claim 1, It is characterized in that The target parking space includes a step; when controlling the vehicle to travel from an extension area of ​​the target parking space to the target parking space, the method further includes: When it is detected that the vehicle is located at the step of the target parking space, the torque of the vehicle is amplified.

8. The method according to claim 7, It is characterized in that The method further comprises: detecting a deceleration of the vehicle; When the deceleration of the vehicle is greater than a deceleration threshold, it is determined that the vehicle is located at a step of the target parking space.

9. The method according to claim 1, It is characterized in that The target parking space includes a step; when controlling the vehicle to travel from an extension area of ​​the target parking space to the target parking space, the method further includes: When it is detected that the vehicle is located at the step of the target parking space, the rearview mirror of the vehicle is controlled to be folded.

10. An automatic parking device, It is characterized in that include: The parking space sensing module is used to sense the surrounding environment of the vehicle and determine the target parking space; A control module, configured to adjust the posture of the ego vehicle according to the position of the target parking space and the initial position of the ego vehicle, so that the ego vehicle is located in an extended area of ​​the target parking space; wherein the extended area of ​​the target parking space is obtained by extending the parking space line in the length direction of the target parking space; The control module is further used to control the vehicle to travel from the extension area of ​​the target parking space to the target parking space.

11. An electronic device, It is characterized in that include: A memory for storing executable instructions; A processor, configured to implement the method according to any one of claims 1 to 9 when executing the executable instructions stored in the memory.

12. A computer-readable storage medium, It is characterized in that Executable instructions are stored, and when executed by a processor, the method described in any one of claims 1 to 9 is implemented.

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