Method, system and equipment for automatically selecting parking direction and storage medium

Abstract

The invention relates to the technical field of parking, and particularly discloses a method, a system and equipment for automatically selecting a parking direction and a storage medium. The method for automatically selecting the parking-out direction comprises the steps that first sensing information at the moment when a vehicle needs to be parked out is collected through a sensor; second sensing information fed back by the cloud data server is received, and the second sensing information is sensing information collected by a sensor when the vehicle is parked in; and when the first sensing information is the same as the second sensing information, the parking-out direction of the vehicle is determined according to the parking-in direction of the second sensing information. The method comprises the following steps: acquiring peripheral information of a vehicle through a sensor, comparing currently acquired first sensing information with second sensing information acquired when the vehicle is parked by a parking controller, and if the first sensing information and the second sensing information are the same, considering that the vehicle does not move after being parked and surrounding obstacles do not change, and enabling a system to move along a track opposite to the parking track to automatically park the vehicle out.

Description

Technical Field

[0001] The present invention relates to the technical field of parking, and in particular to a method, system, device and storage medium for automatically selecting a parking direction. Background Art

[0002] With the development of automotive electronic technology, parking assistance systems are becoming more and more popular and their types are becoming more and more diverse. In recent years, with the increasing popularity of vehicles, parking assistance systems have gradually become one of the standard components of automobiles. However, the current automatic parking assistance system requires the driver to select the parking direction on the mobile phone APP or in the car, and cannot automatically select the parking direction of the vehicle. Summary of the invention

[0003] The main purpose of the present invention is to propose a method, system, device and storage medium for automatically selecting a parking direction, aiming to solve the problem that the driver needs to select a parking direction when using an automatically parked vehicle.

[0004] To achieve the above object, the present invention provides a method for automatically selecting a parking direction, the method comprising:

[0005] Collecting first-hand information about the time when the vehicle needs to park out through sensors;

[0006] receiving second perception information fed back by the cloud data server, where the second perception information is perception information collected by the sensor when the vehicle is parked;

[0007] When the first perception information is the same as the second perception information, the parking-out direction of the vehicle is determined according to the parking-in direction of the second perception information.

[0008] In one embodiment, when the first perception information is the same as the second perception information, the step of determining the parking direction of the vehicle according to the parking direction of the second perception information includes:

[0009] When the current second perception information of the vehicle is different from the first perception information, sending a request message to the navigation map;

[0010] Receiving road information, lane information and parking space type information fed back by the navigation map;

[0011] A parking direction is selected according to the vehicle road information, the road information, the lane information and the parking space type information.

[0012] In one embodiment, when the current second perception information of the vehicle is different from the first perception information, the step of requesting the navigation map to feedback the road information, lane information and parking space type information further includes:

[0013] When the lane information cannot be obtained through the navigation map, identifying the surrounding environment of the vehicle according to the first perception information;

[0014] A parking direction is selected according to the vehicle surrounding environment.

[0015] In one embodiment, when the lane information cannot be obtained through the navigation map, the step of identifying the surrounding environment of the vehicle according to the first perception information to obtain identification information further includes:

[0016] When the lane information cannot be obtained through the navigation map, determining the surrounding environment of the vehicle according to the ultrasonic information collected by the sensor installed on the side of the vehicle in the first perception information;

[0017] Determine the surrounding environment of the vehicle based on image information collected by sensors installed around the vehicle in the first perception information;

[0018] The vehicle surrounding environment is determined based on the second ultrasonic information collected by the sensor installed under the vehicle rearview mirror in the first perception information and the image information.

[0019] In one embodiment, before the step of collecting the first perception information of the time when the vehicle needs to park out through the sensor, the step includes:

[0020] When the vehicle is parked, the parking method of the vehicle automatically parked, the second perception information of the vehicle parking and the vehicle road information are transmitted to the cloud data server.

[0021] The present invention also provides a system for automatically selecting a parking direction, the system for automatically selecting a parking direction includes the above-mentioned method for automatically selecting a parking direction, the system for automatically selecting a parking direction includes: a sensor, a parking controller and a cloud data server;

[0022] The sensor is connected to the controller, and the parking controller is connected to the sensor and the cloud data server;

[0023] The sensor is used to transmit the collected parking mode of the vehicle, the second perception information of the vehicle parking and the vehicle road information to the cloud data server when the vehicle is parked; and is also used to collect the distance of the side obstacles of the vehicle and the surrounding road conditions in real time, and transmit the collected first perception information to the parking controller;

[0024] the parking controller is configured to determine a parking exit direction of the vehicle according to a parking entry direction of the second sensing information when the first sensing information is the same as the second sensing information;

[0025] The cloud data server is used to receive the parking method of the vehicle automatically parking, the second perception information of the vehicle parking and the vehicle road information transmitted by the parking controller, and send the saved parking method of the vehicle automatically parking, the second perception information of the vehicle parking and the vehicle road information to the parking controller at a preset period.

[0026] In one embodiment, the sensors include: ultrasonic sensor No. 1, ultrasonic sensor No. 2, ultrasonic sensor No. 3, ultrasonic sensor No. 4, ultrasonic sensor No. 5, ultrasonic sensor No. 6, surround view camera 1, surround view camera 2, surround view camera 3 and surround view camera 4;

[0027] Among them, the ultrasonic sensor No. 1 and the ultrasonic sensor No. 6 are installed on the side of the rear bumper of the vehicle, the ultrasonic sensor No. 3 and the ultrasonic sensor No. 4 are installed on the side of the front bumper of the vehicle, the ultrasonic sensor No. 2 and the ultrasonic sensor No. 5 are installed below the exterior rearview mirror of the vehicle, the surround-view camera 1 is installed at the center of the front of the vehicle, the surround-view camera 2 is installed at the center of the rear of the vehicle, and the surround-view camera 3 and the surround-view camera 4 are installed in front of the exterior rearview mirror of the vehicle.

[0028] In one embodiment, the system for automatically selecting a parking direction further comprises: a navigation map;

[0029] The navigation map is connected to the parking controller;

[0030] The parking controller is further configured to send request information to the navigation map when the current second perception information of the vehicle is different from the first perception information;

[0031] The navigation map is used to feedback road information, lane information, and parking space type information upon receiving a request message sent by the parking controller;

[0032] The parking controller is further used to select a parking direction according to the vehicle road information, the road information, the lane information and the parking space type information.

[0033] The present invention also proposes a device for automatically selecting a parking direction, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the above-mentioned method for automatically selecting a parking direction.

[0034] The present invention further proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for automatically selecting a parking direction as described above are implemented.

[0035] The present invention relates to the field of parking technology, and specifically discloses a method, system, device and storage medium for automatically selecting a parking direction. The method for automatically selecting a parking direction includes: collecting first perception information of the time when the vehicle needs to park out through a sensor; receiving second perception information fed back by a cloud data server, wherein the second perception information is the perception information collected by the sensor when the vehicle is parked; when the first perception information is the same as the second perception information, determining the parking direction of the vehicle according to the parking direction of the second perception information. The sensor collects information about the surrounding area of ​​the vehicle, and the parking controller compares the currently collected first perception information with the second perception information collected when the vehicle is parked. If the two are the same, it is considered that the vehicle has not moved after parking is completed, and the surrounding obstacles have not changed, then the system automatically parks the vehicle out with the opposite trajectory of parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0037] Figure 1 A schematic flow chart of a first embodiment of a method for automatically selecting a parking direction provided by the present invention;

[0038] Figure 2 A schematic flow chart of a second embodiment of the method for automatically selecting a parking direction provided by the present invention;

[0039] Figure 3 A schematic flow chart of a third embodiment of the method for automatically selecting a parking direction provided by the present invention;

[0040] Figure 4 A schematic diagram of the structure of an embodiment of a system for automatically selecting a parking direction provided by the present invention;

[0041] Figure 5 A schematic diagram of the structure of an embodiment of a system for automatically selecting a parking direction provided by the present invention;

[0042] Figure 6 A schematic diagram of the device structure for automatically selecting a parking direction in a hardware operating environment involved in the method for automatically selecting a parking direction in an embodiment of the present application.

[0043] Description of Figure Numbers:

[0044]

[0045]

[0046] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] The current automatic parking assistance system requires the driver to select the parking direction through a mobile phone APP or in the car. The present invention provides a method for the system to automatically select the parking direction.

[0051] The main solution of the embodiment of the present application is: collect the first perception information of the time when the vehicle needs to park out through the sensor; receive the second perception information fed back by the cloud data server, the second perception information is the perception information collected by the sensor when the vehicle is parked; when the first perception information is the same as the second perception information, determine the parking direction of the vehicle according to the parking direction of the second perception information. The sensor collects the surrounding information of the vehicle, and the parking controller compares the first perception information currently collected with the second perception information collected when the vehicle is parked. If the two are the same, it is considered that the vehicle has not moved after the parking is completed, and the surrounding obstacles have not changed, then the system automatically parks the vehicle out with the opposite trajectory of the parking.

[0052] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a device that can automatically select the parking direction to realize the above functions, etc. The following takes the parking controller as an example to illustrate this embodiment and the following embodiments.

[0053] Based on this, the embodiment of the present application provides a method for automatically selecting a parking direction, referring to Figure 1 , Figure 1 Schematic diagram of the flow chart of the first embodiment of the method for automatically selecting a parking direction according to the present application.

[0054] In this embodiment, the method for automatically selecting a parking direction includes steps S10 to S30.

[0055] Step S10: Collecting first perception information of the time when the vehicle needs to park out through sensors.

[0056] It should be noted that the sensors include ultrasonic sensors No. 1 to 6 and surround-view cameras No. 1 to 4; wherein, ultrasonic sensor No. 1 and ultrasonic sensor No. 6 are installed on the side of the rear bumper of the vehicle, ultrasonic sensor No. 3 and ultrasonic sensor No. 4 are installed on the side of the front bumper of the vehicle, ultrasonic sensor No. 2 and ultrasonic sensor No. 5 are installed under the vehicle's exterior rearview mirrors, surround-view camera No. 1 is installed at the center of the front of the vehicle, surround-view camera No. 2 is installed at the center of the rear of the vehicle, surround-view camera No. 3 and surround-view camera No. 4 are installed in front of the vehicle's exterior rearview mirrors.

[0057] It can be understood that the first perception information includes the distance data of the four ultrasonic sensors 1 / 3 / 4 / 6 when parking is required and the image data of the four surround-view cameras.

[0058] Specifically, when the user chooses to park out on the interactive terminal (such as an in-vehicle MP5, a mobile phone APP, etc.), the parking controller collects the current first perception information of the vehicle through the sensor.

[0059] Step S20: receiving second perception information fed back by the cloud data server, where the second perception information is perception information collected by the sensor when the vehicle is parked.

[0060] It should be noted that the second perception information includes the distance data of the four ultrasonic sensors No. 1 / 3 / 4 / 6 when the vehicle is parked and the image data of the four surround-view cameras.

[0061] It is understandable that before the user chooses to park out, after the vehicle is parked in the parking space, the parking controller also performs the following steps:

[0062] Step S00: When the vehicle is parked, the parking method of the vehicle automatically parked, the second perception information of the vehicle parking and the vehicle road information are transmitted to the cloud data server.

[0063] Specifically, the parking controller transmits the parking mode of the vehicle automatically parked (horizontally left parking, horizontally right parking, vertically left parking, vertically right parking, etc.), the second sensing information when parking is completed, the time when parking is completed, and whether the vehicle's forward direction is consistent with the driving direction indicated by the road to the cloud data server. The vehicle road information is the information on whether the vehicle's forward direction is consistent with the driving direction indicated by the road. Whenever the parking controller starts automatic parking, the parking mode data is triggered to be uploaded to the cloud data server for storage, and the previous data is updated and overwritten.

[0064] Optionally, the cloud data server sends the stored second perception information to the parking controller at a fixed period, for example, at a period of 100 ms.

[0065] Step S30: When the first perception information is the same as the second perception information, determining the parking direction of the vehicle according to the parking direction of the second perception information.

[0066] It should be noted that when the user chooses to park out on the interactive terminal (such as the in-car MP5, mobile phone APP, etc.), the parking controller compares the current first perception information of the vehicle with the second perception information of the cloud data server, and first determines whether the data of the four ultrasonic sensors 1 / 3 / 4 / 6 are consistent, that is, whether the distance value difference of each ultrasonic sensor is within the ultrasonic error range, and then determines whether the image data of the four surround-view cameras are consistent, that is, whether the characteristic shape and number of features of the image are the same. If the two are the same, it can be considered that the vehicle has not moved after the parking is completed, and the surrounding obstacles have not changed, then the system will automatically park the vehicle out with the opposite trajectory of the parking. For example, if the parking method is horizontal left parking, then the parking out is horizontal right parking; if the parking method is vertical right parking, then the parking out is vertical left parking; if the parking method is straight in, the parking out method is straight back, etc.

[0067] In this embodiment, the vehicle's surrounding information is collected by sensors, and the parking controller compares the currently collected first perception information with the second perception information collected when the vehicle is parked. If the two are the same, it is considered that the vehicle has not moved after parking is completed and the surrounding obstacles have not changed. In this case, the system automatically parks the vehicle with the opposite trajectory of parking.

[0068] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , Figure 2 A flowchart diagram of the second embodiment of the method for automatically selecting a parking direction in the present application is provided. In the steps, the method for automatically selecting a parking direction includes:

[0069] Step S201: When the vehicle's current second perception information is different from the first perception information, a request message is sent to the navigation map.

[0070] It should be noted that if the current first perception information collected by the parking controller is inconsistent with the second perception information transmitted by the cloud data server, the vehicle may have moved after parking is completed, or the obstacles around the vehicle have changed, then the parking controller sends a request to the navigation map.

[0071] Specifically, first determine whether the data of the four ultrasonic sensors 1 / 3 / 4 / 6 are consistent, that is, whether the distance value difference of each ultrasonic sensor is within the ultrasonic error range, and then determine whether the image data of the four surround-view cameras are consistent, that is, whether the characteristic shapes and feature quantities of the images are the same. If the distance value difference of one ultrasonic sensor is within the ultrasonic error range, it is considered that the second perception information is different from the first perception information; if the characteristic shape and feature quantity of the image data of one surround-view camera are different, it is considered that the second perception information is different from the first perception information.

[0072] It is understandable that navigation maps are high-precision maps. The so-called high-precision maps are actually thematic maps that serve the autonomous driving system, compared with ordinary navigation electronic maps. The absolute position accuracy of high-precision maps is close to 1m, and the relative position accuracy is at the centimeter level, which can reach 10-20cm. It can accurately and comprehensively characterize road features and requires higher real-time performance, which is the most significant feature of high-precision maps. In addition, high-precision maps record the specific details of driving behavior, including typical driving behavior, optimal acceleration and braking points, road complexity, and marking of signal reception conditions on different road sections.

[0073] Step S202: receiving road information, lane information and parking space type information fed back by the navigation map.

[0074] It should be noted that the navigation map feeds back road information, lane information, and parking space type information.

[0075] It can be understood that road information refers to various data related to traffic roads, including road type, width, condition, traffic signs, signal lights, etc. Lane information refers to two-way two-lane, four-lane or multi-lane. Parking space type information is divided into building-attached parking lots, urban public parking lots, and on-street parking spaces according to the construction type of parking facilities. The parking space arrangement methods of parking space type information include parallel, inclined and vertical.

[0076] Step S203: selecting a parking direction according to the vehicle road information, the road information, the lane information and the parking space type information.

[0077] It should be noted that the parking direction is automatically selected based on the vehicle road information fed back by the cloud controller, that is, whether the vehicle's forward direction is consistent with the road indication direction and the road information, lane information, and parking space type information fed back by the navigation map. For example, if the vehicle is on two lanes and the vehicle is in the right lane, and the forward direction is consistent with the road indication, the system automatically selects the left parking direction. If the vehicle's forward direction is inconsistent with the road indication, the system automatically selects the right parking direction and prompts the user to pay attention to safety. If the vehicle is parked on multiple lanes and the vehicle is in the right lane, and the vehicle's forward direction is consistent with the road indication, the system automatically selects the left parking direction. Similarly, if the vehicle's forward direction is inconsistent with the road indication, the system automatically selects the right parking direction and prompts the user to pay attention to safety.

[0078] In this embodiment, the parking controller compares the first perception information currently collected with the second perception information collected when the vehicle is parked. If the two are different, the parking controller sends a request to the navigation map. The navigation map feeds back road information, lane information, and parking space type information, and automatically selects the parking exit direction based on whether the vehicle's forward direction fed back by the cloud controller is consistent with the road indication direction.

[0079] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 A flowchart diagram is provided for the third embodiment of the method for automatically selecting a parking direction in the present application.

[0080] Step S301: When the lane information cannot be obtained through the navigation map, the vehicle surrounding environment is determined based on the ultrasonic information collected by the sensor installed on the side of the vehicle in the first perception information.

[0081] It should be noted that if the parking controller cannot obtain lane information through the navigation map, the parking controller will automatically select the parking direction based on the vehicle's own sensor to identify the vehicle's surrounding environment. The identified information includes whether the vehicle is in the parking space, parking space line and road line information, and obstacle information. The ultrasonic sensor detects the distance to the side obstacles of the vehicle, and the surround camera detects the road conditions around the vehicle.

[0082] Understandably, the parking controller first checks whether ultrasonic sensors 1 / 3 / 4 / 6 detect side obstacles and checks the distance of the obstacles.

[0083] Step S302: determining the surrounding environment of the vehicle according to the image information collected by the sensors installed around the vehicle in the first perception information;

[0084] It should be noted that the system determines whether there are obstacles and markings based on the image data from the surround view camera. If there are no obstacles in front of the vehicle, the system will park straight in; if there are no obstacles in the rear of the vehicle, the system will park straight back. If there are no obstacles on the left or right side of the vehicle, the system will automatically select the direction based on whether there are lines and arrow directions in the surround left view and surround right view. If there are obstacles in the left view, the system will automatically select the right park; if there are obstacles in the right view, the system will automatically select the left park.

[0085] Step S303: Determine the vehicle's surrounding environment based on the second ultrasonic information collected by the sensor installed under the vehicle's rearview mirror and the image information in the first perception information.

[0086] It should be noted that ultrasonic sensors 2 and 5 are used to identify curbs, ditches, and potholes. If there are curbs or ditches within 20 cm on the left and right sides of the vehicle, the 1 / 3 / 4 / 6 ultrasonic radars have blind spots and cannot detect such obstacles or structures. The 2 / 5 radars under the rearview mirror can be used in combination with the image data from the surround view camera to identify and automatically park the vehicle.

[0087] Specifically, if there is a curb or ditch on one side of the vehicle, there will be a large difference in the distance values ​​detected by radar No. 2 and radar No. 5. At the same time, by performing convolution processing on the left and right view data of the vehicle's surround-view camera three and surround-view camera four, it is confirmed whether there is a curb or ditch. If there is a curb or ditch on the left or right side of the vehicle, the other direction will be automatically selected for parking.

[0088] Among them, convolution allows us to process large amounts of image data, extract important features, and then use these features to classify or identify whether it is a curb or a ditch.

[0089] Step S304: selecting a parking direction according to the vehicle's surrounding environment.

[0090] It should be noted that if there is no obstacle in front of the vehicle, the system will park straight in; if there is no obstacle in the rear, the system will park straight out. According to the marking information and concave and convex information near the vehicle, if there is an obstacle in the left view, the system will automatically choose to park right; if there is an obstacle in the right view, the system will automatically choose to park left.

[0091] In this embodiment, when the navigation map is not available, the automatic parking direction is selected through the vehicle's own sensors, among which ultrasonic radars 1 / 3 / 4 / 6 detect whether there are obstacles around the vehicle and the distance of the obstacles, surround-view cameras one to four detect obstacles and marking information around the vehicle, and ultrasonic sensors 2 and 5 are used to identify curbs, ditches, and potholes. The automatic parking direction is selected through the vehicle's surrounding environment detected by the sensors.

[0092] Reference Figure 4 , Figure 4 This is a schematic diagram of the modules of the first embodiment of the system for automatically selecting the parking direction proposed by the present invention. Figure 4 A first embodiment of the system for automatically selecting a parking direction according to the present invention is presented.

[0093] In this embodiment, the system for automatically selecting a parking direction includes the method for automatically selecting a parking direction as described above, and the system for automatically selecting a parking direction includes: a sensor 10, a parking controller 20, and a cloud data server 30; the sensor 10 is connected to the controller, and the parking controller is connected to the sensor and the cloud data server; the sensor 10 is used to transmit the collected parking mode of the vehicle automatically parked, the second parking perception information of the vehicle, and the vehicle road information to the cloud data server when the vehicle is parked; and is also used to collect the distance of the obstacle on the side of the vehicle and the surrounding road conditions in real time, and transmit the collected first perception information to the parking controller; the parking controller 20 is used to determine the parking direction of the vehicle according to the parking direction of the second perception information when the first perception information is the same as the second perception information; the cloud data server 30 is used to receive the parking mode of the vehicle automatically parked, the second parking perception information of the vehicle, and the vehicle road information transmitted by the parking controller, and send the stored parking mode of the vehicle automatically parked, the second parking perception information of the vehicle, and the vehicle road information to the parking controller at a preset period.

[0094] It should be noted that the sensor 10 is used to collect information about the vehicle's surrounding environment. When the vehicle is parked, the sensor transmits the collected second perception information, the vehicle parking method and the vehicle road information to the cloud data server 30. The cloud server refreshes the previous vehicle parking information each time it receives the parking information, and sends the second perception information, the vehicle parking method and the vehicle road information to the parking controller at a period of 100ms. When the user issues a parking command, the sensor collects the first perception information of the current vehicle's surrounding environment and sends the first perception information to the parking controller 20. The parking controller compares the first perception information with the second perception information. When the first perception information and the second perception information are consistent, it can be considered that the vehicle has not moved after the parking is completed, and the surrounding obstacles have not changed, then the system automatically parks the vehicle out with the opposite trajectory of the parking.

[0095] like Figure 5 As shown, the sensors include: ultrasonic sensor No. 1 1, ultrasonic sensor No. 2, ultrasonic sensor No. 3, ultrasonic sensor No. 4, ultrasonic sensor No. 5, ultrasonic sensor No. 6, ultrasonic sensor 6, surround view camera 1 A1, surround view camera 2 A2, surround view camera 3 A3 and surround view camera 4 A4; wherein, ultrasonic sensor No. 1 1 and ultrasonic sensor No. 6 6 are installed on the side of the rear bumper of the vehicle, ultrasonic sensor No. 3 and ultrasonic sensor No. 4 4 are installed on the side of the front bumper of the vehicle, ultrasonic sensor No. 2 2 and ultrasonic sensor No. 5 5 are installed below the exterior rearview mirror of the vehicle, surround view camera 1 A1 is installed at the center of the front of the vehicle, surround view camera 2 A2 is installed at the center of the rear of the vehicle, surround view camera 3 A3 and surround view camera 4 A4 are installed in front of the exterior rearview mirror of the vehicle.

[0096] It should be noted that ultrasonic sensors 1 / 3 / 4 / 6 are used to detect the distance of obstacles on the side of the vehicle, and ultrasonic sensors 2 / 5 are used to assist in detecting the height information of obstacles. 200 is the rear of the vehicle, 100 is the front of the vehicle, 300 is the left mirror, and 400 is the right mirror.

[0097] It is understandable that ultrasonic sensors and surround cameras are installed all over the vehicle to assist the parking controller in automatically selecting the parking direction. When the difference between the data of the six ultrasonic sensors and the four surround cameras during parking in and out is within the threshold range, it can be considered that the vehicle has not moved after parking and the surrounding obstacles have not changed, and the system will automatically park the vehicle out with the opposite trajectory of parking in; when the difference between the data of the six ultrasonic sensors and the four surround cameras during parking in and out exceeds the threshold range, the parking out direction is automatically selected through the navigation map; when the navigation map cannot be used, the parking controller 20 first checks whether the ultrasonic sensors 1 / 3 / 4 / 6 detect side obstacles and the distance of the obstacles. According to the image data of surround cameras 1 to 4, it is judged whether there are obstacles and markings, and the 2 / 5 radars under the rearview mirror and the image data of the surround cameras are used to identify whether there are curbs, ditches, and potholes, and select the parking out direction to realize the automatic parking of the vehicle.

[0098] The system for automatically selecting a parking direction further includes: a navigation map 40; the navigation map is connected to the parking controller 20; the parking controller 20 is further used to send a request message to the navigation map when the vehicle's current second perception information is different from the first perception information; the navigation map is used to feedback road information, lane information, and parking space type information upon receiving the request information sent by the parking controller; the parking controller is further used to select a parking direction based on the vehicle's road information, the road information, the lane information, and the parking space type information.

[0099] It is understandable that if the current first perception information received by the parking controller is inconsistent with the second perception information sent by the cloud data server, the vehicle may have moved after parking, or the obstacles around the vehicle have changed. The parking controller then requests the navigation map to feedback road information, lane information, and parking space type information, and automatically selects the parking direction based on whether the vehicle's forward direction feedback from the cloud controller is consistent with the road indication direction.

[0100] In this embodiment, the system for automatically selecting a parking direction includes a sensor, a parking controller, a cloud data server and a navigation map. The method for automatically selecting a parking direction is implemented by the system for automatically selecting a parking direction. The sensor collects current first perception information and compares it with second perception information when the vehicle is parked, which is fed back by the cloud data server. When the first perception information is consistent with the second perception information, the parking controller automatically selects a trajectory opposite to the parking to automatically park the vehicle out. When the first perception information is inconsistent with the second perception information, the parking controller sends a request to the navigation map, and the navigation map feeds back road information, lane information, and parking space type information, and automatically selects a parking direction based on whether the vehicle's forward direction fed back by the cloud controller is consistent with the road indication direction. If the parking controller cannot obtain the lane information through the navigation map, the parking controller automatically selects a parking direction based on the vehicle's own sensor to identify the vehicle's surrounding environment.

[0101] The present application provides a device for automatically selecting a parking direction, the device for automatically selecting a parking direction comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for automatically selecting a parking direction in the above-mentioned embodiment 1.

[0102] Reference below Figure 6 , which shows a schematic diagram of the structure of a device suitable for implementing the automatic selection of the parking direction in the embodiment of the present application. The device for automatically selecting the parking direction in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The device shown for automatically selecting the parking direction is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0103] like Figure 6As shown, the device for automatically selecting the direction of parking may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the device for automatically selecting the direction of parking are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the device for automatically selecting the direction of docking to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a device for automatically selecting the direction of docking with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0104] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0105] The device for automatically selecting the parking direction provided by the present application adopts the method for automatically selecting the parking direction in the above embodiment, which can solve the technical problem of mechanical fatigue imbalance of the dual motor spindle. Compared with the prior art, the beneficial effects of the device for automatically selecting the parking direction provided by the present application are the same as the beneficial effects of the method for automatically selecting the parking direction provided by the above embodiment, and the other technical features of the device for automatically selecting the parking direction are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0106] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0107] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0108] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the method for automatically selecting a parking direction in the above-mentioned embodiment.

[0109] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0110] The computer-readable storage medium may be included in the device for automatically selecting a parking direction; or may exist independently without being assembled into the device for automatically selecting a parking direction.

[0111] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0112] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0113] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0114] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for automatically selecting a parking direction, and can solve the technical problem of requiring the user to actively select a parking direction. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the method for automatically selecting a parking direction provided in the above-mentioned embodiment, and will not be described in detail here.

[0115] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for automatically selecting a mooring direction, characterized in that: The method for automatically selecting a parking direction comprises: Collecting first-hand information about the time when the vehicle needs to park out through sensors; receiving second perception information fed back by the cloud data server, where the second perception information is perception information collected by the sensor when the vehicle is parked; When the first perception information is the same as the second perception information, the parking-out direction of the vehicle is determined according to the parking-in direction of the second perception information.

2. The method for automatically selecting a parking direction according to claim 1, characterized in that: The step of determining the parking direction of the vehicle according to the parking direction of the second perception information when the first perception information is the same as the second perception information includes: When the current second perception information of the vehicle is different from the first perception information, sending a request message to the navigation map; Receiving road information, lane information and parking space type information fed back by the navigation map; A parking direction is selected according to the vehicle road information, the road information, the lane information and the parking space type information.

3. The method for automatically selecting a parking direction according to claim 2, characterized in that: The step of requesting the navigation map to feedback road information, lane information, and parking space type information when the current second perception information of the vehicle is different from the first perception information also includes: When the lane information cannot be obtained through the navigation map, identifying the surrounding environment of the vehicle according to the first perception information; A parking direction is selected according to the vehicle surrounding environment.

4. The method for automatically selecting a parking direction according to claim 3, characterized in that: The step of identifying the surrounding environment of the vehicle according to the first perception information to obtain identification information when the lane information cannot be obtained through the navigation map also includes: When the lane information cannot be obtained through the navigation map, determining the surrounding environment of the vehicle according to the ultrasonic information collected by the sensor installed on the side of the vehicle in the first perception information; Determine the surrounding environment of the vehicle based on image information collected by sensors installed around the vehicle in the first perception information; The vehicle surrounding environment is determined based on the second ultrasonic information collected by the sensor installed under the vehicle rearview mirror in the first perception information and the image information.

5. The method for automatically selecting a parking direction according to claim 1, characterized in that: Before the step of collecting the first perception information of the time when the vehicle needs to park out through the sensor, the method includes: When the vehicle is parked, the parking method of the vehicle automatically parked, the second perception information of the vehicle parking and the vehicle road information are transmitted to the cloud data server.

6. A system for automatically selecting a mooring direction, characterized in that: The system for automatically selecting a parking direction includes the method for automatically selecting a parking direction as claimed in claim 1, wherein the system for automatically selecting a parking direction includes: a sensor, a parking controller and a cloud data server; The sensor is connected to the controller, and the parking controller is connected to the sensor and the cloud data server; The sensor is used to transmit the collected parking mode of the vehicle, the second perception information of the vehicle parking and the vehicle road information to the cloud data server when the vehicle is parked; and is also used to collect the distance of the side obstacles of the vehicle and the surrounding road conditions in real time, and transmit the collected first perception information to the parking controller; the parking controller is configured to determine a parking exit direction of the vehicle according to a parking entry direction of the second sensing information when the first sensing information is the same as the second sensing information; The cloud data server is used to receive the parking method of the vehicle automatically parking, the second perception information of the vehicle parking and the vehicle road information transmitted by the parking controller, and send the saved parking method of the vehicle automatically parking, the second perception information of the vehicle parking and the vehicle road information to the parking controller at a preset period.

7. The system for automatically selecting a parking direction according to claim 6, characterized in that: The sensors include: ultrasonic sensor No. 1, ultrasonic sensor No. 2, ultrasonic sensor No. 3, ultrasonic sensor No. 4, ultrasonic sensor No. 5, ultrasonic sensor No. 6, surround view camera 1, surround view camera 2, surround view camera 3 and surround view camera 4; Among them, the ultrasonic sensor No. 1 and the ultrasonic sensor No. 6 are installed on the side of the rear bumper of the vehicle, the ultrasonic sensor No. 3 and the ultrasonic sensor No. 4 are installed on the side of the front bumper of the vehicle, the ultrasonic sensor No. 2 and the ultrasonic sensor No. 5 are installed below the exterior rearview mirror of the vehicle, the surround-view camera 1 is installed at the center of the front of the vehicle, the surround-view camera 2 is installed at the center of the rear of the vehicle, and the surround-view camera 3 and the surround-view camera 4 are installed in front of the exterior rearview mirror of the vehicle.

8. The system for automatically selecting a parking direction as claimed in claim 6, characterized in that: The system for automatically selecting a parking direction further includes: a navigation map; The navigation map is connected to the parking controller; The parking controller is further configured to send request information to the navigation map when the current second perception information of the vehicle is different from the first perception information; The navigation map is used to feedback road information, lane information, and parking space type information upon receiving a request message sent by the parking controller; The parking controller is further used to select a parking direction according to the vehicle road information, the road information, the lane information and the parking space type information.

9. A device for automatically selecting a direction for parking, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for automatically selecting a parking direction according to any one of claims 1 to 5.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for automatically selecting a parking direction as described in any one of claims 1 to 5 are implemented.

Images