Virtual parking space construction method and related equipment

Abstract

This invention discloses a method and related equipment for constructing virtual parking spaces, relating to the field of automated parking. The method primarily addresses the problem of manual construction of virtual parking spaces in special scenarios. The method comprises: acquiring fused obstacle information from sensors of a target vehicle; constructing a virtual parking space based on this fused obstacle information, wherein the virtual parking space includes vertical and horizontal spaces; and selecting an initial recommended parking space for the target vehicle from among these virtual spaces. The invention is applicable to the virtual parking space construction process.

Description

Technical Field

[0001] The present invention relates to the field of automatic parking, and in particular to a virtual parking space construction method and related equipment. Background Art

[0002] At present, smart cars account for an increasing proportion of the market. As one of the main functions of smart cars, the automatic parking function is also used by more and more drivers. In order to solve the situation where there is no actual parking space in an open area and other environments where parking spaces cannot be perceived, some automatic parking systems will include a custom parking function, which supports users to drag the virtual parking space frame themselves to achieve custom parking. However, this method requires the driver to drag the operation himself, which still relies on manual labor. Summary of the Invention

[0003] In view of the above problems, the present invention provides a virtual parking space construction method and related equipment, the main purpose of which is to solve the problem that the construction of virtual parking spaces in special scenarios still relies on manual labor.

[0004] To solve at least one of the above technical problems, in a first aspect, the present invention provides a method for constructing a virtual parking space, the method comprising:

[0005] Obtain fused obstacle information based on the target vehicle’s sensors;

[0006] Constructing a virtual parking space based on the fused obstacle information, wherein the virtual parking space includes a vertical parking space and a horizontal parking space;

[0007] An initial recommended parking space is selected for the target vehicle from the virtual parking spaces.

[0008] Optionally, the above method further includes:

[0009] Obtaining the roadside information of the target vehicle within a preset range;

[0010] When the curb information feedback indicates that there is no curb within the preset range of the target vehicle, constructing a vertical parking space and a horizontal parking space;

[0011] When the curb information feeds back that there is a curb within the preset range of the target vehicle, a horizontal parking space is constructed.

[0012] Optionally, constructing a virtual parking space based on the fused obstacle information includes:

[0013] Constructing a global coordinate system based on the target vehicle position, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle;

[0014] Dividing the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system;

[0015] Obtaining obstacle distribution information within the effective area of ​​the vertical parking space;

[0016] constructing the vertical parking space based on the valid area of ​​the vertical parking space and the obstacle distribution information within the valid area;

[0017] The dividing of the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system includes:

[0018] Determining a first lateral maximum value based on the sum of the closest parking distance to the target vehicle and a default length of the vertical parking space;

[0019] determining a first lateral minimum based on half the width of the target vehicle;

[0020] determining a first longitudinal maximum value and a first longitudinal minimum value based on a sensor performance range;

[0021] The effective area of ​​the vertical parking space is divided based on the first lateral maximum value, the first lateral minimum value, the first longitudinal maximum value, and the first longitudinal minimum value.

[0022] Optionally, the above method further includes:

[0023] Divide the effective area of ​​the vertical parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable;

[0024] In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals;

[0025] Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value;

[0026] When the target value of the counting variable satisfies the number of the valid intervals, the vertical parking space is created.

[0027] Optionally, when there is a curb within a preset range of the target vehicle fed back by the curb information, constructing a horizontal parking space includes:

[0028] Determine a target roadside within the preset range that is closest to the target vehicle;

[0029] Constructing a local coordinate system based on the target vehicle position, wherein the origin of the local coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is perpendicular to the extension direction of the target curb, and the vertical axis is parallel to the extension direction of the target curb;

[0030] Dividing the effective area of ​​the horizontal parking space based on the width of the target vehicle, the local coordinate system and basic information of the target curb;

[0031] Obtaining obstacle distribution information within the effective area of ​​the horizontal parking space;

[0032] constructing the horizontal parking space based on the effective area of ​​the horizontal parking space and the obstacle distribution information within the effective area;

[0033] The dividing of the effective area of ​​the horizontal parking space based on the width of the target vehicle, the local coordinate system, and the basic information of the target curb includes:

[0034] determining a second lateral maximum value based on a distance between the target vehicle and the target curb, wherein the second lateral maximum value is less than the distance between the target vehicle and the target curb;

[0035] determining a second lateral minimum value based on half the width of the target vehicle;

[0036] Determining a second longitudinal maximum value and a second longitudinal minimum value based on the sensor performance range

[0037] The valid area of ​​the horizontal parking space is divided based on the second lateral maximum value, the second lateral minimum value, the second longitudinal maximum value and the second longitudinal minimum value.

[0038] Optionally, the above method further includes:

[0039] In the case where there is a curb within the preset range, the four corner points of the horizontal parking space are constructed based on the curb;

[0040] In the case that there is no curb within the preset range, the four corner points of the horizontal parking space are constructed based on the effective area.

[0041] Divide the effective area of ​​the horizontal parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable;

[0042] In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals;

[0043] Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value;

[0044] When the target value of the counting variable satisfies the number of the valid intervals, the horizontal parking space is created.

[0045] Optionally, the above method further includes:

[0046] When the horizontal parking space is constructed, determining coordinate information of four corner points of the horizontal parking space, wherein the coordinate information of the four corner points is based on a local coordinate system;

[0047] The coordinate information of the four corner points is transformed based on a global coordinate system, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle.

[0048] In a second aspect, an embodiment of the present invention further provides a virtual parking space construction device, comprising:

[0049] An acquisition unit, configured to acquire fused obstacle information based on a sensor of a target vehicle;

[0050] a construction unit, configured to construct a virtual parking space based on the fused obstacle information, wherein the virtual parking space includes a vertical parking space and a horizontal parking space;

[0051] A selection unit is configured to select an initial recommended parking space for the target vehicle from the virtual parking spaces.

[0052] In order to achieve the above object, according to a third aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the steps of the above virtual parking space construction method are implemented.

[0053] In order to achieve the above-mentioned purpose, according to the fourth aspect of the present invention, an electronic device is provided, comprising at least one processor and at least one memory connected to the processor; wherein the above-mentioned processor is used to call the program instructions in the above-mentioned memory to execute the steps of the above-mentioned virtual parking space construction method.

[0054] Through the above technical solutions, the present invention provides a virtual parking space construction method and related equipment to address the problem of manual construction of virtual parking spaces in special scenarios. The present invention obtains fused obstacle information from sensors of a target vehicle; constructs a virtual parking space based on this fused obstacle information, wherein the virtual parking space includes vertical and horizontal parking spaces; and selects an initial recommended parking space for the target vehicle from among the virtual parking spaces. In this solution, a method for constructing initial recommended parking spaces for a custom parking space is provided. This method uses fused obstacle information detected by sensors as input and constructs a custom parking space based primarily on the distribution of obstacles around the target vehicle. This custom parking space can be either vertical or horizontal, but no obstacles are allowed within the space. If multiple parking spaces are available, the closest parking space to the target vehicle is ultimately selected as the initial recommended space based on the distance between the parking spaces and the target vehicle. This method eliminates the need for the driver to drag and construct a custom parking space; the driver can automatically park directly according to the initial recommended parking space constructed by the present invention. If the driver is dissatisfied, they can drag and construct the space, reducing driver effort and improving parking efficiency.

[0055] Correspondingly, the virtual parking space construction device, equipment and computer-readable storage medium provided by the embodiments of the present invention also have the above-mentioned technical effects.

[0056] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0058] Figure 1 A schematic diagram showing a flow chart of a method for constructing a virtual parking space provided by an embodiment of the present invention;

[0059] Figure 2 A schematic diagram of a vertical parking space structure provided by an embodiment of the present invention is shown;

[0060] Figure 3 A schematic diagram of a horizontal parking space structure provided by an embodiment of the present invention is shown;

[0061] Figure 4 A schematic block diagram showing the composition of a virtual parking space construction device provided by an embodiment of the present invention is shown;

[0062] Figure 5 A schematic block diagram of the composition of an electronic device for constructing a virtual parking space provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0063] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0064] In order to solve the problem that the construction of virtual parking spaces in special scenarios still relies on manual labor, an embodiment of the present invention provides a method for constructing virtual parking spaces, such as Figure 1 As shown, the method includes:

[0065] S101, acquiring fused obstacle information based on sensors of the target vehicle;

[0066] Exemplarily, the above-mentioned sensor may be a sensing device such as an ultrasonic radar and a fisheye camera.

[0067] S102: constructing a virtual parking space based on the fused obstacle information, wherein the virtual parking space includes a vertical parking space and a horizontal parking space;

[0068] For example, parking spaces can be created on both sides of the target vehicle, with a maximum of two horizontal spaces and two vertical spaces on each side, resulting in a maximum of eight spaces, from which the optimal output is selected. This application uses the right side of the target vehicle as an example to create vertical and horizontal parking spaces that meet the requirements. The left side follows the same logic, with only the position difference.

[0069] S103: Select an initial recommended parking space for the target vehicle from the virtual parking spaces.

[0070] Through the above technical solution, the present invention provides a method for constructing virtual parking spaces, which addresses the problem of manual construction in special scenarios. The present invention obtains fused obstacle information from sensors of a target vehicle; constructs a virtual parking space based on this fused obstacle information, wherein the virtual parking space includes vertical and horizontal parking spaces; and selects an initial recommended parking space for the target vehicle from among the virtual parking spaces. In this solution, a method for constructing initial recommended parking spaces for a custom parking space is provided. This method uses fused obstacle information detected by sensors as input and constructs a custom parking space based primarily on the distribution of obstacles around the target vehicle. This custom parking space can be either vertical or horizontal, but no obstacles are allowed within the space. If multiple parking spaces are available, the closest parking space to the target vehicle is ultimately selected as the initial recommended space based on the distance between the parking spaces and the target vehicle. This method eliminates the need for the driver to drag and construct a custom parking space; the driver can automatically park directly according to the initial recommended parking space constructed by the present invention. If the driver is dissatisfied, they can drag and construct the space, reducing driver effort and improving parking efficiency.

[0071] In one embodiment, the method further includes:

[0072] Obtaining the roadside information of the target vehicle within a preset range;

[0073] When the curb information feedback indicates that there is no curb within the preset range of the target vehicle, constructing a vertical parking space and a horizontal parking space;

[0074] When the curb information feeds back that there is a curb within the preset range of the target vehicle, a horizontal parking space is constructed.

[0075] For example, if a curb is close to the target vehicle, vertical parking spaces are insufficient, so horizontal spaces can be considered. The logic for creating horizontal spaces is the same as for vertical spaces. However, if the long side of the constructed space is at an angle to the curb, the resulting parking effect will be visually affected. Therefore, when a curb is present, horizontal spaces should be constructed in the direction of the curb. When a curb is absent, horizontal spaces can also be constructed using the same logic as vertical spaces. However, due to their different length and width, horizontal spaces occupy a larger effective area in the longitudinal direction and a narrower area in the transverse direction.

[0076] Based on the above solution, when constructing horizontal parking spaces, it is determined whether there is a curb. If there is a curb, parking can be done close to the curb edge. If there is no curb, the parking space is constructed according to the default horizontal parking space to optimize the user parking experience.

[0077] In one embodiment, constructing a virtual parking space based on the fused obstacle information includes:

[0078] Constructing a global coordinate system based on the target vehicle position, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle;

[0079] Dividing the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system;

[0080] Obtaining obstacle distribution information within the effective area of ​​the vertical parking space;

[0081] constructing the vertical parking space based on the valid area of ​​the vertical parking space and the obstacle distribution information within the valid area;

[0082] The dividing of the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system includes:

[0083] Determining a first lateral maximum value based on the sum of the closest parking distance to the target vehicle and a default length of the vertical parking space;

[0084] determining a first lateral minimum based on half the width of the target vehicle;

[0085] determining a first longitudinal maximum value and a first longitudinal minimum value based on a sensor performance range;

[0086] The effective area of ​​the vertical parking space is divided based on the first lateral maximum value, the first lateral minimum value, the first longitudinal maximum value, and the first longitudinal minimum value.

[0087] like Figure 2 As shown, first, the effective area of ​​the vertical parking space is segmented: due to the limitations of the sensor, obstacles that are too far away cannot be detected, and the parking space construction range needs to be set. This application uses the center of the rear axle of the target vehicle as the origin, the x-axis, that is, the horizontal axis, points to the right side of the driver (parallel to the extension direction of the rear axle of the target vehicle), and the y-axis, that is, the vertical axis, points to the front of the vehicle (perpendicular to the extension direction of the rear axle of the target vehicle) as the global coordinate system. In the y direction, the first longitudinal maximum value y_max and the first longitudinal minimum value y_min are set according to the sensor detection performance. In the x direction, the first lateral maximum value x_max is the distance from the target vehicle to the nearest parking space plus the default length of the vertical parking space. In order to avoid parking failure due to obstacles at the parking space entrance, it is also necessary to determine whether there are obstacles in front of the parking space entrance, and it also needs to be included in the effective area. Therefore, half of the width of the target vehicle is used as the first lateral minimum value x_min. According to the maximum and minimum values ​​in the above x and y directions, the effective area for creating a vertical parking space is created. Then set the segmentation distance dis_area, and divide multiple effective intervals in the y direction.

[0088] In the above scheme, the first transverse minimum value of x is half the vehicle width, 0.8m, and the first transverse maximum value is 6.9m (including half the vehicle width, 0.8m, the nearest parking distance, 0.6m, and the default vertical parking space length, 5.5m). The first longitudinal minimum value of y is -4m, and the first longitudinal maximum value is 6m. The segmentation distance dis_area is set to 0.2, and the y direction is divided into 50 valid intervals of 0.2m each. The array obs_index

[50] is used to determine whether there is an obstacle in each interval. Initially, all elements are initialized to 0, indicating that there is no obstacle in the interval.

[0089] Furthermore, the obstacle distribution is calculated, and according to the position of the fused obstacle output by sensors such as ultrasonic radar and camera, it is determined whether there is an obstacle in the above valid interval. If an obstacle exists, the corresponding element of the array obs_index is set to 1.

[0090] This application sets a fused obstacle with two locations, representing the two endpoints of the obstacle, such as a curb, wheel chock, etc. There are obstacles between the two endpoints, so all elements between the two endpoints of the obstacle need to be set to 1. For example, there is a fused obstacle at location 1 (1.2, 3.7) in the global coordinate system, and location 2 (1.5, 2.8) within the above valid area. According to the y-axis, the intervals to which the two location points of this obstacle belong are calculated. The interval of point 1 is (3.7-(-4)) / 0.2, rounded up, and the interval of point 2 is (2.8-(-4)) / 0.2, that is, the intervals from 34 to 39 are set to 1, corresponding to the values ​​of 1 for elements 33 to 38 of the array obs_index. Loop through all fused obstacles to calculate the occupancy of all obstacles in the valid area.

[0091] Finally, create a vertical parking space: After calculating the distribution of obstacles in the valid area, this application creates a vertical parking space based on the distribution. Calculate the required number of intervals valid_count based on the default vertical parking space width parking_w, that is, round up parking_w / dis_area. If there are no obstacles distributed in the continuous interval of this required number of intervals, a vertical parking space can be created. The y values ​​of the four corner points of the parking space are determined according to the upper and lower boundaries of the y values ​​of this continuous obstacle-free interval. The x value of the far end is directly determined according to the maximum x value of the valid area, and the x value of the near end is determined according to the maximum x value of the valid area minus the default vertical parking space length.

[0092] In one embodiment, the method further includes:

[0093] Divide the effective area of ​​the vertical parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable;

[0094] In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals;

[0095] Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value;

[0096] When the target value of the counting variable satisfies the number of the valid intervals, the vertical parking space is created.

[0097] Based on the above scheme, the default width of the vertical parking space is parking_w = ​​2.2m, and the default length is parking_l = 5.5m. Therefore, valid_count = 11. Constructing a vertical parking space requires 11 consecutive valid intervals, and there are no obstacles in the intervals, that is, the values ​​of 11 consecutive elements of the array obs_index are 0. To find a parking space that meets the conditions, set the counting variable count, with an initial value of 0. Loop through each element of the array obs_index. If the element value is 0, count is increased by 1, and if it is 1, count is reset to zero. When count reaches 11, an interval sufficient to construct a vertical parking space has been found. In order to find a vertical parking space that meets the requirements and is close to the target vehicle as quickly as possible, the search can be started from the rear axle of the target vehicle, start_index = 20, that is, first loop from the array obs_index

[20] to obs_index

[49] . During this period, count reaches 11. According to the index value at this time, the vertical parking space is output and the loop exits. This can avoid looping the entire array and reduce the amount of calculation.

[0098] At this point, the area above the rear axle has been scanned, but the area below has not been scanned yet. If we scan from obs_index

[20] to obs_index[0], there is a situation where a vertical parking space cannot be generated near obs_index

[20] . For example, if there is no obstacle between indexes 14 and 24, but there is an obstacle between obs_index

[25] and obs_index

[13] , then the area between 14 and 24 cannot be generated as a vertical parking space if we scan in the above manner. To solve this problem, the index for downward scanning should start from (start_index+valid_count-2), which is the area occupied by the parking space above the rear axle minus one area. That is, the scan below the rear axle needs to start from the array obs_index

[29] and scan towards obs_index[0]. At this point, all situations can be covered. Similarly, when scanning downward from obs_index

[29] , when the count reaches 11, the vertical parking space can be output and the scan is exited.

[0099] Based on the above logic, a scan above the rear axle can construct at most one parking space, and a scan below it can construct at most one parking space, resulting in a maximum of two perpendicular parking spaces. The y-coordinates of the four corner points of the vertical parking spaces are constructed based on the valid range scanned above, and the x-coordinates are constructed based on the default width of the vertical parking spaces. If there are no obstacles between array indexes 20 and 30, the coordinates of the four corner points are (1.4, 2.2), (6.9, 2.2), (1.4, 0), and (6.9, 0).

[0100] In one embodiment, when the curb information feedback indicates that there is a curb within a preset range of the target vehicle, constructing a horizontal parking space includes:

[0101] Determine a target roadside within the preset range that is closest to the target vehicle;

[0102] Constructing a local coordinate system based on the target vehicle position, wherein the origin of the local coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is perpendicular to the extension direction of the target curb, and the vertical axis is parallel to the extension direction of the target curb;

[0103] Dividing the effective area of ​​the horizontal parking space based on the width of the target vehicle, the local coordinate system and basic information of the target curb;

[0104] Obtaining obstacle distribution information within the effective area of ​​the horizontal parking space;

[0105] constructing the horizontal parking space based on the effective area of ​​the horizontal parking space and the obstacle distribution information within the effective area;

[0106] The dividing of the effective area of ​​the horizontal parking space based on the width of the target vehicle, the local coordinate system, and the basic information of the target curb includes:

[0107] determining a second lateral maximum value based on a distance between the target vehicle and the target curb, wherein the second lateral maximum value is less than the distance between the target vehicle and the target curb;

[0108] determining a second lateral minimum value based on half the width of the target vehicle;

[0109] Determining a second longitudinal maximum value and a second longitudinal minimum value based on the sensor performance range

[0110] The valid area of ​​the horizontal parking space is divided based on the second lateral maximum value, the second lateral minimum value, the second longitudinal maximum value and the second longitudinal minimum value.

[0111] like Figure 3As shown, obstacle preprocessing is performed first: When a curb is included in the fused obstacle, all curb obstacles are extracted. The target curb closest to the target vehicle is used as a reference. Based on the coordinates of the curb's endpoints, the angle curb_angle between this curb and the y-axis of the global coordinate system is calculated. This angle serves as the basis for coordinate transformation. The distance dis_curb_min from the target vehicle to this curb is calculated and serves as the boundary for subsequent valid area demarcation. The global coordinate system centered on the rear axle of the local target vehicle is rotated by the angle curb_angle to establish a local coordinate system. The origin of the local coordinate system remains at the center of the target vehicle's rear axle, with the y-axis parallel to the curb (parallel to the extension direction of the target curb) and the x-axis perpendicular to the curb (perpendicular to the extension direction of the target curb). All obstacle coordinates are converted to the local coordinate system. A horizontal parking space will be constructed in this local coordinate system, and then the rotation is reversed to the global coordinate system.

[0112] Next, the horizontal parking space valid area is segmented. This is similar to the vertical parking space valid area segmentation. First, the parking space's construction range is set in the local coordinate system. The second longitudinal maximum value y_max and the second longitudinal minimum value y_min are still determined based on the sensor's detection performance. However, the second lateral maximum value x_max in the x-direction is determined based on the distance dis_curb_min from the target vehicle to the curb. To account for curb detection errors, a threshold value dis_thres needs to be reduced inward from the curb distance to prevent the parking space from exactly overlapping the curb or being constructed on the curb due to curb errors. Therefore, the x-direction maximum value is set to (dis_curb_min - dis_thres). If there is no curb, the maximum value is the closest available parking distance to the target vehicle plus the default width of the horizontal parking space, similar to the vertical parking space. Half the target vehicle width is set as the second lateral minimum value x_min. Similarly, within the valid area, a separation distance dis_area is set to segment the y-direction into multiple valid intervals.

[0113] In the above scheme, the second longitudinal maximum value is 6m, and the second longitudinal minimum value is -4m. If there is a curb, the x-axis maximum value is (dis_curb_min-dis_thres), where dis_curb_min is obtained based on the actual curb detected by the sensor and is reduced by 0.15m inward, that is, dis_thres = 0.15. If there is no curb, it is similar to the vertical parking space, and the second transverse maximum value is 3.6m (including half the vehicle width 0.8m plus the nearest parking distance 0.6m and the default width of the horizontal parking space 2.2m). The second transverse minimum value is half the vehicle width 0.8m. The segmentation distance is the same as the vertical parking space dis_area, which is 0.2m, and is divided into 50 intervals in the y direction, represented by the array obs_index

[50] .

[0114] Furthermore, the obstacle distribution is calculated: the logic is the same as that for calculating the obstacle distribution in vertical parking spaces. According to the fused obstacle positions output by the ultrasonic radar and camera, it is determined whether there are obstacles in the valid range of horizontal parking spaces. If there are obstacles, the corresponding element in the array obs_index is set to 1.

[0115] Finally, create a horizontal parking space: The logic is the same as for vertical parking spaces, but for horizontal parking spaces, the length is aligned with the y-axis. Therefore, the required number of intervals (valid_count) is calculated based on the default horizontal parking space length (parking_l), which is parking_l / dis_area, rounded up. If there are no obstacles within a continuous interval of this required number of intervals, the horizontal parking space can be created. Unlike vertical parking spaces, since the parking space is constructed based on the curb angle, it may be at an angle to the target vehicle. This may cause the target vehicle area to overlap with the created horizontal parking space, making the space unparkable. Therefore, this situation needs to be corrected. If the parking space overlaps the target vehicle area, the count is decremented by 1, and the next interval is scanned, moving the horizontal parking space until the constructed horizontal parking space does not overlap with the target vehicle.

[0116] When constructing parking spaces, the system scans the target vehicle's rear axle twice, starting from the upper and lower axes. This effectively covers the entire area and efficiently finds the closest parking space, reducing computational effort. Finally, the system recommends the closest parking space to the target vehicle, optimizing the parking experience.

[0117] The y values ​​of the four corner points of the parking space are determined according to the upper and lower boundaries of the y values ​​of this continuous obstacle-free interval. The x value of the far end is directly determined according to the maximum x value of the valid area, and the x value of the near end is determined by subtracting the default horizontal parking space width from the maximum x value of the valid area.

[0118] In one embodiment, the method further includes:

[0119] In the case where there is a curb within the preset range, the four corner points of the horizontal parking space are constructed based on the curb;

[0120] In the case that there is no curb within the preset range, the four corner points of the horizontal parking space are constructed based on the effective area.

[0121] Divide the effective area of ​​the horizontal parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable;

[0122] In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals;

[0123] Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value;

[0124] When the target value of the counting variable satisfies the number of the valid intervals, the horizontal parking space is created.

[0125] In this application, the default length of a horizontal parking space is parking_l = 5.5m, and the default width is parking_w = ​​2.2m. Therefore, valid_count = 28. Constructing a horizontal parking space requires 28 consecutive valid intervals, and there are no obstacles in the intervals, that is, the value of 28 consecutive elements of the array obs_index is 0. The scanning method is the same as the vertical parking space. Start from the origin of the coordinate system, that is, obs_index

[20] , and scan upward. When the counting variable count reaches 28, the horizontal parking space can be constructed and the loop exits. Then scan downward from (start_index+valid_count-2), that is, obs_index

[46] , to obs_index[0]. When the counting variable count reaches 28, the horizontal parking space is constructed and the loop exits. In this way, at most two horizontal parking spaces can be constructed.

[0126] The four corner points of a horizontal parking space are similarly determined based on the scanned valid range, but are divided into those with and without a curb. For example, if all elements in the obs_index array indexed 20 to 47 are 0, indicating no obstacle, the four corner points are constructed closely to the curb in the local coordinate system, with the positions being (dis_curb_min - 0.15 - 2.2, 5.6), (dis_curb_min - 0.15, 5.6), (dis_curb_min - 0.15, 0), and (dis_curb_min - 0.15 - 2.2, 0). In the absence of a curb, because the rotation angle is curb_angle = 0, the local and global coordinate systems are equal, and the four corner points are constructed closely to the right side of the valid range, with coordinates being (1.4, 5.6), (3.6, 5.6), (3.6, 0), and (1.4, 0).

[0127] In one embodiment, the method further includes:

[0128] When the horizontal parking space is constructed, determining coordinate information of four corner points of the horizontal parking space, wherein the coordinate information of the four corner points is based on a local coordinate system;

[0129] The coordinate information of the four corner points is transformed based on a global coordinate system, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle.

[0130] It should be noted that if there is a curb, the four corner points are established in a local coordinate system parallel to the curb and need to be converted to the global coordinate system for output. The four corner points need to be converted and rotated back according to the above rotation angle curb_angle.

[0131] Ultimately, the above process has created up to four parking spaces to the right of the target vehicle, including up to two vertical spaces and two horizontal spaces. Similarly, up to four spaces can be constructed to the left of the target vehicle using the same logic. The optimal parking space among these eight spaces is then selected as the initial recommended space for the display and parking control system. By creating an initial custom parking space, the driver can park directly in the recommended space, eliminating the need for the driver to drag a space to create a custom space in custom parking mode. This reduces the number of steps required and improves efficiency.

[0132] According to normal driving habits, the priority for selecting a parking space is to choose the right side first, and then choose the left side if the right side cannot be constructed; if there are multiple parking spaces available on the right side, choose the parking space closest to the target vehicle.

[0133] Furthermore, as a response to the above Figure 1 In order to realize the method shown in the figure, the embodiment of the present invention also provides a virtual parking space construction device for Figure 1 This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not describe the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can implement all the contents of the aforementioned method embodiment. Figure 4 As shown, the device includes: an acquisition unit 21, a construction unit 22 and a selection unit 23, wherein

[0134] An acquisition unit 21 is configured to acquire fused obstacle information based on a sensor of a target vehicle;

[0135] A construction unit 22 is configured to construct a virtual parking space based on the fused obstacle information, wherein the virtual parking space includes a vertical parking space and a horizontal parking space;

[0136] The selection unit 23 is configured to select an initial recommended parking space for the target vehicle from the virtual parking spaces.

[0137] The processor includes a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and by adjusting kernel parameters, a method for constructing virtual parking spaces can be implemented, resolving the problem of manual construction in special scenarios.

[0138] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is executed by a processor, the virtual parking space construction method is implemented.

[0139] An embodiment of the present invention provides a processor, which is used to run a program, wherein the virtual parking space construction method is executed when the program is run.

[0140] An embodiment of the present invention provides an electronic device, comprising at least one processor and at least one memory connected to the processor; wherein the processor is configured to call program instructions in the memory to execute the above-mentioned virtual parking space construction method.

[0141] An embodiment of the present invention provides an electronic device 30, such as Figure 5 As shown, the electronic device includes at least one processor 301, and at least one memory 302 and a bus 303 connected to the processor; wherein the processor 301 and the memory 302 communicate with each other through the bus 303; the processor 301 is used to call the program instructions in the memory to execute the above-mentioned virtual parking space construction method.

[0142] The intelligent electronic devices in this article can be PCs, PADs, mobile phones, etc.

[0143] The present application also provides a computer program product, which, when executed on a process management electronic device, is suitable for executing a program initialized with the steps of the above-mentioned virtual parking space construction method.

[0144] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0145] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0146] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0147] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0149] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 This corresponds to the flow of memory control in the embodiment.

[0150] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0151] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, 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 an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0153] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0154] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0155] 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 for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium 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.

[0156] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for constructing a virtual parking space, characterized in that: include: Obtain fused obstacle information based on the target vehicle’s sensors; Constructing a virtual parking space based on the fused obstacle information, wherein the virtual parking space includes a vertical parking space and a horizontal parking space; Selecting an initial recommended parking space for the target vehicle from the virtual parking spaces; The constructing of a virtual parking space based on the fused obstacle information includes: Constructing a global coordinate system based on the target vehicle position, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle; Dividing the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system; Obtaining obstacle distribution information within the effective area of ​​the vertical parking space; constructing the vertical parking space based on the valid area of ​​the vertical parking space and the obstacle distribution information within the valid area; The dividing of the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system includes: Determining a first lateral maximum value based on the sum of the closest parking distance to the target vehicle and a default length of the vertical parking space; determining a first lateral minimum based on half the width of the target vehicle; determining a first longitudinal maximum value and a first longitudinal minimum value based on a sensor performance range; dividing the effective area of ​​the vertical parking space based on the first lateral maximum value, the first lateral minimum value, the first longitudinal maximum value, and the first longitudinal minimum value; Divide the effective area of ​​the vertical parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable; In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals; Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value; When the target value of the counting variable satisfies the number of the valid intervals, the vertical parking space is created.

2. The method according to claim 1, characterized in that Also includes: Obtaining the roadside information of the target vehicle within a preset range; When the curb information feedback indicates that there is no curb within the preset range of the target vehicle, constructing a vertical parking space and a horizontal parking space; When the curb information feeds back that there is a curb within the preset range of the target vehicle, a horizontal parking space is constructed.

3. The method according to claim 2, characterized in that The step of constructing a horizontal parking space when a curb exists within a preset range of the target vehicle fed back by the curb information includes: Determine a target roadside within the preset range that is closest to the target vehicle; Constructing a local coordinate system based on the target vehicle position, wherein the origin of the local coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is perpendicular to the extension direction of the target curb, and the vertical axis is parallel to the extension direction of the target curb; Dividing the effective area of ​​the horizontal parking space based on the width of the target vehicle, the local coordinate system and basic information of the target curb; Obtaining obstacle distribution information within the effective area of ​​the horizontal parking space; constructing the horizontal parking space based on the effective area of ​​the horizontal parking space and the obstacle distribution information within the effective area; The dividing of the effective area of ​​the horizontal parking space based on the width of the target vehicle, the local coordinate system, and the basic information of the target curb includes: determining a second lateral maximum value based on a distance between the target vehicle and the target curb, wherein the second lateral maximum value is less than the distance between the target vehicle and the target curb; determining a second lateral minimum value based on half the width of the target vehicle; Determining a second longitudinal maximum value and a second longitudinal minimum value based on the sensor performance range The valid area of ​​the horizontal parking space is divided based on the second lateral maximum value, the second lateral minimum value, the second longitudinal maximum value and the second longitudinal minimum value.

4. The method according to claim 3, characterized in that Also includes: In the case where there is a curb within the preset range, the four corner points of the horizontal parking space are constructed based on the curb; In the case where there is no curb within the preset range, the four corner points of the horizontal parking space are constructed based on the effective area; Divide the effective area of ​​the horizontal parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable; In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals; Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value; When the target value of the counting variable satisfies the number of the valid intervals, the horizontal parking space is created.

5. The method according to claim 4, characterized in that Also includes: When the horizontal parking space is constructed, determining coordinate information of four corner points of the horizontal parking space, wherein the coordinate information of the four corner points is based on a local coordinate system; The coordinate information of the four corner points is transformed based on a global coordinate system, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle.

6. A virtual parking space construction device, characterized in that: Also includes: An acquisition unit, configured to acquire fused obstacle information based on a sensor of a target vehicle; a construction unit, configured to construct a virtual parking space based on the fused obstacle information, wherein the virtual parking space includes a vertical parking space and a horizontal parking space; a selection unit, configured to select an initial recommended parking space for the target vehicle from the virtual parking spaces; The constructing of a virtual parking space based on the fused obstacle information includes: Constructing a global coordinate system based on the target vehicle position, wherein the origin of the global coordinate system is the center of the rear axle of the target vehicle, the horizontal axis is parallel to the extension direction of the rear axle of the target vehicle, and the vertical axis is perpendicular to the extension direction of the rear axle of the target vehicle; Dividing the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system; Obtaining obstacle distribution information within the effective area of ​​the vertical parking space; constructing the vertical parking space based on the valid area of ​​the vertical parking space and the obstacle distribution information within the valid area; The dividing of the effective area of ​​the vertical parking space based on the width of the target vehicle and the global coordinate system includes: Determining a first lateral maximum value based on the sum of the closest parking distance to the target vehicle and a default length of the vertical parking space; determining a first lateral minimum based on half the width of the target vehicle; determining a first longitudinal maximum value and a first longitudinal minimum value based on a sensor performance range; dividing the effective area of ​​the vertical parking space based on the first lateral maximum value, the first lateral minimum value, the first longitudinal maximum value, and the first longitudinal minimum value; Divide the effective area of ​​the vertical parking space into a number of effective intervals, wherein each effective interval corresponds to a counting variable; In the case where there is no obstacle in the valid interval, setting the initial value of the counting variable of all the valid intervals; Starting from the rear axle center of the target vehicle, traversing the valid interval in both the upward and downward directions respectively to change the initial value of the counting variable to the target value; When the target value of the counting variable satisfies the number of the valid intervals, the vertical parking space is created.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the steps of the virtual parking space construction method according to any one of claims 1 to 5 are implemented.

8. An electronic device, characterized in that: The electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the steps of the virtual parking space construction method according to any one of claims 1 to 5.

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