Indoor parking control method, device and equipment and readable storage medium

Abstract

The invention provides an indoor parking control method, device and equipment and a readable storage medium, and the method comprises the steps: determining the real-time positions of a current vehicle and an obstacle vehicle under the condition that the current vehicle and the obstacle vehicle both run in a two-way lane scene; under the condition that the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle runs on the same lane in the two-way lane scene along with the obstacle vehicle, acquiring environment information of the lane, and determining that the lane is in a room and an idle parking space exists beside the lane according to the environment information; controlling the current vehicle to stop driving at the first boundary position under the condition that the lane is in the room and the obstacle vehicle passes through the first boundary position of the free parking space to drive into the parking operation area corresponding to the free parking space; and under the condition that the obstacle vehicle passes through the second boundary position to leave the parking operation area, the current vehicle is controlled to continue to follow the obstacle vehicle to run. According to the invention, the parking efficiency and passing efficiency of the vehicle in the indoor parking scene are improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of vehicle technology, and more particularly to an indoor parking control method, device, electronic device, and computer-readable storage medium. Background Art

[0002] Vehicles have become an indispensable part of people's daily lives, providing a convenient and efficient way of travel. Intelligent driving technology applied to vehicles can help passengers control the vehicle, meeting users' expectations for intelligent driving.

[0003] At present, valet parking technology can automatically find parking spaces and park, and can control the vehicle to park out of the parking space when the car is needed.

[0004] However, the current solution still fails to fully consider the relationship between the vehicle itself, other vehicles and the environment, resulting in conflicts between the vehicle itself and other vehicles, and low parking efficiency and traffic efficiency. Summary of the invention

[0005] In view of the above problems, the embodiments of the present disclosure are proposed to provide an indoor parking control method, device, electronic device and computer-readable storage medium that overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present disclosure discloses an indoor parking control method, the method comprising:

[0007] In the case where both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario, respectively determining the real-time positions of the current vehicle and the obstacle vehicle; the two-way lane scenario has at least two lanes with opposite driving directions;

[0008] When the real-time position indicates that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scene, obtaining environmental information of the lane, and determining, based on the environmental information, that the lane is indoors and there is an empty parking space next to the lane;

[0009] When the lane is indoors and the obstacle vehicle passes the first boundary position of the vacant parking space to enter the parking operation area corresponding to the vacant parking space, controlling the current vehicle to stop driving at the first boundary position;

[0010] When the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area, the current vehicle is controlled to continue to follow the obstacle vehicle; the first boundary position and the second boundary position define the range of the vacant parking space.

[0011] In a second aspect, an embodiment of the present disclosure discloses an indoor parking control device, the device comprising:

[0012] A lane vehicle module, for respectively determining the real-time positions of the current vehicle and the obstacle vehicle when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario; the two-way lane scenario has at least two lanes with opposite driving directions;

[0013] a parking space status module, configured to obtain environmental information of the lane when the real-time position indicates that the current vehicle follows the obstacle vehicle in the same lane in the two-way lane scene, and determine, based on the environmental information, that the lane is indoors and there is an empty parking space next to the lane;

[0014] a stop control module, configured to control the current vehicle to stop driving at a first boundary position when the lane is indoors and the obstacle vehicle passes a first boundary position of the vacant parking space to enter a parking operation area corresponding to the vacant parking space;

[0015] The following control module is used to control the current vehicle to continue to follow the obstacle vehicle when the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area; the first boundary position and the second boundary position define the range of the vacant parking space.

[0016] In a third aspect, an embodiment of the present disclosure further discloses an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be executed on the processor, and when the program or instructions are executed by the processor, the steps of the indoor parking control method described in the first aspect are implemented.

[0017] In a fourth aspect, an embodiment of the present disclosure further discloses a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the indoor parking control method as described in the first aspect are implemented.

[0018] In the disclosed embodiment, the real-time positions of the current vehicle and the obstacle vehicle can be determined when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario; when the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scenario, environmental information of the lane is acquired, and it is determined that the lane is indoors and there is an empty parking space next to the lane based on the environmental information; the current vehicle is controlled to stop traveling at a first boundary position of the empty parking space, and when the obstacle vehicle passes the second boundary position, the current vehicle is controlled to continue to follow the obstacle vehicle, so that when the current vehicle and the obstacle vehicle are traveling in an indoor parking scenario, a conflict between the parking path of the obstacle vehicle and the driving path of the current vehicle can be avoided, and the current vehicle is avoided from intruding into the parking operation area of ​​the obstacle vehicle, thereby avoiding congestion and the need for occupant intervention control, thereby improving the parking efficiency and traffic efficiency of vehicles in indoor parking scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a step diagram of an indoor parking control method provided by an embodiment of the present disclosure;

[0020] Figure 2 is a schematic diagram of an idle parking space provided by an embodiment of the present disclosure;

[0021] Figure 3 is a step diagram of another indoor parking control method provided by an embodiment of the present disclosure;

[0022] Figure 4 is a schematic diagram of a vehicle rear image processing process provided by an embodiment of the present disclosure;

[0023] Figure 5 is a schematic diagram of the distance between the current vehicle and the obstacle vehicle provided by an embodiment of the present disclosure;

[0024] Figure 6 is a schematic diagram of following driving provided by an embodiment of the present disclosure;

[0025] Figure 7 is a block diagram of an indoor parking control device provided by an embodiment of the present disclosure;

[0026] Figure 8 It is a block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0028] As intelligent driving technology becomes increasingly mature, the automatic parking assist (APA) technology has gradually failed to meet the expectations of many users for intelligent driving, so the automatic valet parking (AVP) technology has begun to be used. AVP is a L4 level (based on the L0-L5 autonomous driving technology classification system) autonomous driving technology, mainly used in parking scenarios, through smartphone applications or the vehicle's own system, to achieve automatic parking and car retrieval functions without human intervention. AVP is more intelligent than APA, but this also means that AVP faces more challenges. AVP cannot meet some driving scenarios, resulting in low vehicle traffic efficiency.

[0029] Figure 1 : is a step diagram of an indoor parking control method provided by an embodiment of the present disclosure, the method comprising:

[0030] Step 101, in the case where both the current vehicle and the obstacle vehicle are traveling in a two-way lane scene, respectively determine the real-time positions of the current vehicle and the obstacle vehicle; the two-way lane scene has at least two lanes with opposite driving directions.

[0031] In the embodiments of the present disclosure, the execution subject of the method steps may be a vehicle controller of the current vehicle, or a server capable of communicating with the vehicle, etc., without limitation. The current vehicle may be a vehicle that needs to be controlled to achieve automatic valet parking, and an obstacle vehicle is a vehicle that interferes with the driving of the current vehicle. A two-way lane scenario has at least two lanes with opposite driving directions. For example, a two-way lane scenario includes two lanes, and the directions of the two lanes are opposite. The two-way lane scenario may also include more lanes, without limitation.

[0032] The real-time position of the current vehicle can be determined by the positioning system in the current vehicle, or the position of the current vehicle can be determined and an environmental map can be constructed through simultaneous localization and mapping (SLAM) technology. The position between the current vehicle and the surrounding environment, such as the relative position information of the obstacle vehicle and the current vehicle, can be determined based on laser ranging data, visual images, inertial measurement unit data, etc.

[0033] For example, the laser point cloud data of the current vehicle's surrounding environment can be obtained through the vehicle's laser radar. The laser radar can measure the angle and distance of objects around the vehicle with high accuracy. For example, it can judge the relative position of the obstacle vehicle and the current vehicle to determine the real-time position of the obstacle vehicle, and perform synchronous positioning and environmental map construction based on the data collected by the camera.

[0034] Among them, the current vehicle (referred to as the current vehicle) can be mathematically modeled by the following formula:

[0035] x k =f(x k-1 )+u k-1

[0036] The above formula is the motion equation, which means that at time k, the current vehicle posture X k From the pose f(x) at time k-1 k-1 ) is determined. Since there may be errors in the actual environment, a noise amount u is added k-1 It forms certain constraints on posture changes.

[0037] y k =h(x k )+V k

[0038] The above equation is the observation equation, which represents the sensor observation value y at time k, which is calculated from the current vehicle posture h(x k ) is determined by the actual environmental influence error. k , the equation of motion can describe the state x k-1 How to change to x k , the observation equation describes how to get from x k Get the observed data y k , which can more realistically reflect the actual position of the current vehicle.

[0039] Step 102, when the real-time position indicates that the current vehicle follows the obstacle vehicle in the same lane in the two-way lane scene, obtain environmental information of the lane, and determine based on the environmental information that the lane is indoors and there is an empty parking space next to the lane.

[0040] In the embodiment of the present disclosure, based on the real-time positions of the current vehicle and the obstacle vehicle, it can be determined whether the current vehicle is following the obstacle vehicle. For example, the current vehicle and the obstacle vehicle maintain a front-to-rear relationship in the same lane for a certain period of time.

[0041] When the current vehicle follows an obstacle vehicle in the same lane in a two-way lane scenario, the current vehicle's sensors, such as cameras and lidars, can detect the surrounding environment and obtain environmental information, which can be environmental images, point cloud data, etc. Based on the environmental information, it is determined that the lane is indoors and there are vacant parking spaces next to the lane. For example, the current vehicle can follow the obstacle vehicle in front during automatic valet parking, and use a fisheye camera to capture an environmental image of the surrounding environment, and based on the environmental image, it is determined that the vehicle is currently in an underground parking lot and there are parking spaces next to the lane.

[0042] Alternatively, an indoor parking scene may be associated with an intelligent parking system, and after the intelligent parking system detects that there is an empty parking space, it interacts with the current vehicle to determine that the current scene is an indoor parking scene and there is an empty parking space next to the lane. It is not specifically limited here what kind of environmental information is used to determine whether there is an empty parking space.

[0043] It is understandable that there may be one or more vacant parking spaces, and the plurality of vacant parking spaces may be distributed discontinuously, that is, dispersedly, or may be distributed side by side and continuously.

[0044] Step 103, when the lane is indoors and the obstacle vehicle passes the first boundary position of the vacant parking space to enter the parking operation area corresponding to the vacant parking space, control the current vehicle to stop driving at the first boundary position.

[0045] In the disclosed embodiment, the range of the vacant parking space is defined by a first boundary position and a second boundary position, which may be two corner points of the vacant parking space close to one side of the lane. The first boundary position may be the position that the current vehicle and the obstacle vehicle reach first, and both the current vehicle and the obstacle vehicle need to pass the first boundary position first and then continue to move forward to reach the second boundary position.

[0046] When the obstructing vehicle passes the first boundary position of the vacant parking space, it indicates that the obstructing vehicle enters the parking operation area corresponding to the vacant parking space. The parking operation area may be located on a lane outside the vacant parking space. The vehicle usually needs to perform parking operations such as turning and reversing in the parking operation area on the lane before it can park in the parking space.

[0047] In order to prevent the current vehicle from intruding into the parking operation area of ​​the obstacle vehicle when following the obstacle vehicle and interfering with the parking of the obstacle vehicle, the current vehicle can be controlled to stop at the first boundary position of the vacant parking space, thereby avoiding entering the parking path or parking range of the obstacle vehicle. It should be noted that passing the first boundary position may mean that the entire vehicle body passes the boundary line extending outward from the first boundary position; similarly, stopping at the first boundary position may mean that the front of the vehicle stops at the boundary line extending outward from the first boundary position. In addition, on the basis of stopping at the first boundary position, there may also be an additional redundant distance, such as stopping at a position one meter away from the first boundary position.

[0048] Step 104, when the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area, control the current vehicle to continue to follow the obstacle vehicle; the first boundary position and the second boundary position define the range of the vacant parking space.

[0049] In the embodiment of the present disclosure, since the second boundary position is already the boundary of the vacant parking space, when the obstacle vehicle passes the second boundary position, it means that the obstacle vehicle has left the parking operation area corresponding to the vacant parking space. It can be considered that the obstacle vehicle will not park in the vacant parking space, so the current vehicle can be controlled to continue to follow the obstacle vehicle.

[0050] Figure 2 is a schematic diagram of an idle parking space according to an embodiment of the present disclosure; Figure 2 The parking space 211, the parking space 212, the parking space 213, the current vehicle 221 and the obstacle vehicle 222 may be included. Each parking space has its own first boundary position and second boundary position. It can be understood that since the three parking spaces are arranged in parallel, the second boundary position of the parking space 211 is also the first boundary position of the parking space 212. The other positions are similar and will not be described in detail here.

[0051] exist Figure 2 In state A, before the rear of the obstacle vehicle 222 passes the second boundary position (position 232) of the parking space 211, the front of the current vehicle 221 needs to stop at the first boundary position (position 231) of the parking space 211. After the rear of the obstacle vehicle 222 passes the second boundary position (position 232) of the parking space 211, the current vehicle 221 can continue to move forward. Figure 2 In state B, the obstacle vehicle 222 will continue to enter the parking space 212. Then, before the rear end of the obstacle vehicle 222 passes the second boundary position 233 of the parking space 212, the front end of the current vehicle 221 needs to stop at the first boundary position (position 232) of the parking space 212.

[0052] In summary, in the embodiments of the present disclosure, when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario, the real-time positions of the current vehicle and the obstacle vehicle can be determined; when the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scenario, the environmental information of the lane is obtained, and it is determined according to the environmental information that the lane is indoors and there is an empty parking space next to the lane; the current vehicle is controlled to stop at the first boundary position of the empty parking space, and when the obstacle vehicle passes the second boundary position, the current vehicle is controlled to continue to follow the obstacle vehicle, so that when the current vehicle and the obstacle vehicle are traveling in an indoor parking scenario, the parking path of the obstacle vehicle and the driving path of the current vehicle are avoided from conflicting, and the current vehicle is avoided from intruding into the parking operation area of ​​the obstacle vehicle, thereby avoiding congestion and the need for occupant intervention control, and improving the parking efficiency and traffic efficiency of vehicles in indoor parking scenarios.

[0053] refer to Figure 3 , which shows a step diagram of an indoor parking control method provided by an embodiment of the present disclosure, the method comprising:

[0054] Step 301, in the case where both the current vehicle and the obstacle vehicle are traveling in a two-way lane scene, respectively determining the real-time positions of the current vehicle and the obstacle vehicle; the two-way lane scene has at least two lanes with opposite driving directions;

[0055] Step 302, when the real-time position indicates that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scene, obtaining environmental information of the lane, and determining, based on the environmental information, that the lane is indoors and there is an empty parking space next to the lane;

[0056] Step 303, when the lane is indoors and the obstacle vehicle passes the first boundary position of the vacant parking space to enter the parking operation area corresponding to the vacant parking space, controlling the current vehicle to stop driving at the first boundary position;

[0057] Step 304, when the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area, control the current vehicle to continue to follow the obstacle vehicle; the first boundary position and the second boundary position define the range of the vacant parking space.

[0058] The above steps 301-304 can refer to the above Figure 1 The contents of the embodiments will not be described in detail here.

[0059] When the current vehicle follows the obstacle vehicle, the driving state of the obstacle vehicle will directly affect the traffic efficiency and driving safety of the current vehicle. Therefore, it is necessary to control the current vehicle based on the driving state of the obstacle vehicle to avoid reducing the traffic efficiency and endangering the driving safety.

[0060] Optionally, the step 304 of controlling the current vehicle to continue to follow the obstacle vehicle includes:

[0061] Determine the driving direction of the obstacle vehicle; the driving direction includes forward and reverse;

[0062] When the driving direction is reverse, controlling the current vehicle to stop driving;

[0063] When the driving direction is forward, the current vehicle is controlled to follow the obstacle vehicle.

[0064] In the embodiment of the present disclosure, when the current vehicle follows an obstacle vehicle traveling in the same lane, the traveling direction of the obstacle vehicle can be determined, and the traveling direction can be forward (forward) and reverse (backward).

[0065] When it is determined by the driving direction that the obstacle vehicle is reversing, since the current vehicle is following the obstacle vehicle, it is easy to cause a collision when the obstacle vehicle is reversing. Therefore, the current vehicle can be controlled to stop driving to avoid a collision caused by the current vehicle moving forward and the obstacle vehicle reversing.

[0066] Furthermore, when it is determined through the driving direction that the obstacle vehicle is moving forward, the current vehicle can be controlled to continue to follow the obstacle vehicle.

[0067] The embodiments of the present disclosure are implemented by determining the driving direction of the obstacle vehicle when the current vehicle follows the obstacle vehicle in the same lane; controlling the current vehicle to stop driving when the driving direction indicates that the obstacle vehicle is reversing; and controlling the current vehicle to continue to follow the obstacle vehicle when the driving direction indicates that the obstacle vehicle is moving forward. The driving of the current vehicle can be controlled according to the specific state of the obstacle vehicle, thereby improving the traffic efficiency and safety of the current vehicle when following the obstacle vehicle.

[0068] When controlling the driving of the current vehicle based on the driving direction of the obstacle vehicle, it is necessary to accurately judge the driving direction of the obstacle vehicle. If the driving direction of the obstacle vehicle is judged incorrectly, it will lead to incorrect control of the driving of the current vehicle, which may affect the traffic efficiency and safety of the current vehicle and the obstacle vehicle.

[0069] Optionally, the step of determining the driving direction of the obstacle vehicle includes:

[0070] Acquire the rear image of the obstacle vehicle and the real-time distance between the current vehicle and the obstacle vehicle;

[0071] When the color of the taillight in the rear image is a preset color and the real-time distance decreases, it is determined that the traveling direction of the obstacle vehicle is reversing.

[0072] In the embodiment of the present disclosure, when the current vehicle follows the obstacle vehicle in the same lane, the obstacle vehicle is located in front of the current vehicle, so the rear image of the obstacle vehicle can be acquired through the camera of the current vehicle.

[0073] For the tail image, image denoising, grayscale, edge detection, image enhancement and other processing processes can be performed. Based on the symmetry of the tail lights, the specific position of the tail lights in the processed tail image can be identified, and then the tail light color can be identified for the specific position. In addition, the distance between the current vehicle and the obstacle vehicle can be detected by laser radar to obtain the real-time distance.

[0074] Figure 4 is a schematic diagram of a vehicle rear image processing process provided by an embodiment of the present disclosure; Figure 4The image in state A is the image after image denoising, graying, edge detection, image enhancement, etc. Figure 4 The image in state B is a further image in which the specific position of the taillight of the vehicle is identified in the processed tail image based on the symmetry of the taillight of the vehicle.

[0075] When the taillight color in the rear image is a preset color and the real-time distance decreases, it is determined that the driving direction of the obstructing vehicle is reverse, that is, the obstructing vehicle is reversed. The preset color may be yellow or other taillight colors commonly used to indicate reverse.

[0076] By implementing the embodiments of the present disclosure, when the current vehicle follows the obstacle vehicle in the same lane, the rear image of the obstacle vehicle and the real-time distance between the current vehicle and the obstacle vehicle are obtained, and when the color of the taillights in the rear image is a preset color and the real-time distance is reduced, the driving direction of the obstacle vehicle is determined. It is possible to judge whether the obstacle vehicle is reversing based on the taillight color and the real-time distance between the vehicles, thereby improving the accuracy of judging the state of the obstacle vehicle.

[0077] Optionally, the method further includes:

[0078] In the case where the current vehicle is traveling at a constant speed, determining, at a first moment, a first distance between the current vehicle and the obstacle vehicle;

[0079] At a second moment after the first moment, determining a second distance between the current vehicle and the obstacle vehicle;

[0080] In the case where the first distance is greater than the second distance, it is determined that the obstacle vehicle is in a deceleration state, so as to enter the step of controlling the current vehicle to stop traveling at the first boundary position.

[0081] In the disclosed embodiment, it can be understood that if there is an empty parking space, the obstacle vehicle ahead has the possibility of parking. On this basis, it can be further detected whether the speed of the obstacle vehicle is reduced. If there is an empty parking space and the obstacle vehicle ahead is in a deceleration state, it can be further determined that the obstacle vehicle has a high possibility of parking, and whether the obstacle vehicle is decelerating can be used as a pre-trigger condition for controlling the current vehicle to stop driving at the first position.

[0082] When the current vehicle is traveling at a constant speed, the first distance and the second distance between the current vehicle and the obstacle vehicle at different times can be used to determine whether the obstacle vehicle is decelerating. Since the current vehicle is traveling at a constant speed, when the first distance is greater than the second distance, that is, the distance is reduced, it indicates that the obstacle vehicle ahead is decelerating; when the first distance is less than the second distance, that is, the distance is increased, it indicates that the obstacle vehicle ahead is accelerating; when the first distance is equal to the second distance, that is, the distance remains unchanged, it indicates that the obstacle vehicle ahead is also traveling at a constant speed.

[0083] It is understandable that there are many different ways to determine whether the obstructing vehicle has decelerated, such as communicating with the obstructing vehicle to obtain the position information and speed information detected by the obstructing vehicle itself. Alternatively, the speed of the obstructing vehicle may be continuously detected by a laser radar or other sensors to determine whether the obstructing vehicle has decelerated.

[0084] By implementing the embodiments of the present disclosure, based on the existence of vacant parking spaces, it is further determined that the obstructing vehicle is in a decelerating state, and it can be determined that the obstructing vehicle has a high parking possibility or parking intention, and then the current vehicle can be controlled to stop at the first boundary position, thereby improving the vehicle control accuracy.

[0085] In a two-way lane scenario, the current vehicle and the obstacle vehicle may be driving in lanes in different directions. When controlling the driving process of the current vehicle, it is also necessary to make a judgment based on the state of the obstacle vehicle in the opposite lane, otherwise it will cause safety problems in vehicle driving.

[0086] Optionally, the method further includes:

[0087] In a case where the current vehicle and the obstacle vehicle are traveling in different lanes, determining a second speed of the obstacle vehicle according to a change in the distance between the current vehicle and the obstacle vehicle and a first speed of the current vehicle;

[0088] When the second speed is zero, the current vehicle is controlled to continue traveling along the current lane.

[0089] In the disclosed embodiment, the current vehicle and the obstacle vehicle may be determined to be traveling in different lanes based on the camera and the laser radar, or the current vehicle and the obstacle vehicle may interact with each other in driving-related information, so that the current vehicle may determine that the two vehicles are in different lanes. The current vehicle and the obstacle vehicle are each traveling in different lanes, and there is no following relationship between the two vehicles.

[0090] The distance change between the current vehicle and the obstacle vehicle can be detected in real time, for example, the distance change within a preset reference time. For example, the current first distance between the current vehicle and the obstacle vehicle and the second distance between the current vehicle and the obstacle vehicle after 2 seconds can be detected, and the difference between the first distance and the second distance is the distance change.

[0091] It is understandable that the magnitude relationship between the first distance and the second distance may be indefinite, and the first distance may be greater than the second distance, that is, the distance between the two vehicles is decreasing. In the case of a two-lane road with opposite lane directions, the distance may be reduced when the two vehicles are traveling in opposite directions, that is, each vehicle is traveling toward the other vehicle, or when the obstacle vehicle is stationary and the current vehicle is traveling in the direction of the obstacle vehicle. In the case of a two-lane road with the same lane direction, the distance may be reduced when the obstacle vehicle is slower than the current vehicle.

[0092] The first distance may be smaller than the second distance, that is, the distance between the two vehicles is increasing. In the case of two lanes with opposite lane directions, the distance between the current vehicle and the obstacle vehicle will only remain the same or decrease. In the case of two lanes with the same lane direction, the distance may increase when the obstacle vehicle is faster than the current vehicle.

[0093] Based on the distance change and the first speed of the current vehicle, the second speed of the obstructing vehicle can be calculated. Different calculation methods can be used for the above different lane conditions. For the case of a two-lane road with opposite lane directions, the distance is reduced due to the obstructing vehicle being stationary and the current vehicle moving in the direction of the obstructing vehicle, the following calculation process can be used:

[0094] ΔS=(v z -v d )·Δt+k

[0095] Among them, ΔS is the change in the distance between the two vehicles, v z is the first speed of the current vehicle, v d is the second speed of the obstacle vehicle, k is the correction coefficient, and Δt is the preset reference time.

[0096] The current vehicle's driving trajectory can be calculated through the wheel speed pulse, and the current vehicle's driving path ΔZ within Δt time can be determined. If ΔZ is equal to ΔS within a certain error, it can be considered that the second speed v of the obstacle vehicle is d is 0.

[0097] When the second speed of the obstacle vehicle is 0, that is, the obstacle vehicle is stationary in the opposite lane, the obstacle vehicle will not interfere with the driving of the current vehicle, and the current vehicle is controlled to continue to drive along the current lane.

[0098] By implementing the embodiments of the present disclosure, when the current vehicle and the obstacle vehicle are traveling in different lanes, the second speed of the obstacle vehicle is determined according to the change in the distance between the current vehicle and the obstacle vehicle and the first speed of the current vehicle; when the second speed is zero, the current vehicle is controlled to continue traveling along the current lane, and the state of the obstacle vehicle in the opposite lane can be judged. When the obstacle vehicle is stationary, the current vehicle can be directly controlled to continue traveling along the current lane, thereby improving the safety of driving control.

[0099] In a two-way lane scenario, the current vehicle and the obstacle vehicle may be driving in lanes in different directions. When controlling the driving process of the current vehicle, it is also necessary to make a judgment based on the state of the obstacle vehicle in the opposite lane, otherwise it will cause safety problems in vehicle driving.

[0100] Optionally, the method further includes:

[0101] In the case where the current vehicle and the obstacle vehicle are traveling towards each other in different lanes, obtaining the lateral distance between the obstacle vehicle and the lane line at different times; the lane line is used to separate the lanes in which the current vehicle and the obstacle vehicle are traveling respectively;

[0102] Determine the distance offset parameter corresponding to the obstacle vehicle according to the lateral distance at different times; the distance offset parameter represents the lateral distance offset per unit time;

[0103] Determining the travel time required for the current vehicle and the obstacle vehicle to reach a preset vertical distance;

[0104] Determining, based on the travel time and the distance offset parameter, a predicted lateral distance between the current vehicle and the obstacle vehicle when the preset vertical distance is reached;

[0105] When the predicted lateral distance is greater than the preset lateral distance, the current vehicle is controlled to continue traveling along the current lane.

[0106] In the disclosed embodiment, the current vehicle and the obstacle vehicle are traveling in different lanes, and each vehicle is traveling toward the other vehicle. The lanes of the current vehicle and the obstacle vehicle are separated by lane lines.

[0107] Since it is difficult for an obstacle vehicle to ensure that its driving route is completely parallel to the lane line when it is driving, the obstacle vehicle may gradually approach the lane line or gradually move away from the lane line during driving. The lateral distance between the obstacle vehicle and the lane line at different times can be obtained to determine the corresponding distance offset parameter. The distance offset parameter represents the lateral distance offset of the obstacle vehicle relative to the lane line per unit time. The distance offset parameter can also indicate whether the obstacle vehicle is gradually moving away from the lane line or gradually approaching the lane line.

[0108]

[0109] Among them, y is the distance offset parameter, L1 is the distance between the obstacle vehicle and the lane line at the second moment t1, and L0 is the distance between the obstacle vehicle and the lane line at the first moment t0.

[0110] The preset vertical spacing is the spacing that the current vehicle and the obstacle vehicle reach when they are gradually approaching each other while traveling towards each other. Line A perpendicular to the lane line can be made based on the front of the current vehicle, and line B perpendicular to the lane line can be made based on the front of the obstacle vehicle. Line A and line B are parallel, and the distance between line A and line B is the vertical spacing between the current vehicle and the obstacle vehicle.

[0111] When the speeds of the current vehicle and the obstacle vehicle, as well as the current vertical distance between the two vehicles are determined, the travel time required to reach the preset vertical distance can be calculated. Based on the distance offset parameter, the lateral distance between the two vehicles after the travel time, i.e. the predicted lateral distance, can be calculated.

[0112] When the predicted lateral distance is greater than the preset lateral distance, it indicates that there is no risk of collision between the two vehicles and the driving trajectories of the two vehicles are safe, and the current vehicle is controlled to continue driving along the current lane.

[0113] Figure 5 is a schematic diagram of the distance between the current vehicle and the obstacle vehicle provided by an embodiment of the present disclosure; Figure 5 The current vehicle A 510 is included, and the obstacle vehicles B 521 and B 522 are different positions of the same obstacle vehicle at different times. At time t0, the distance between B 521 and the lane line is L0, and the distance between B 522 and the lane line is L1 at time t1, and Z is the vertical distance.

[0114] By implementing the embodiments of the present disclosure, the lateral distance between the obstacle vehicle and the lane line at different times is obtained to determine the distance offset parameter corresponding to the obstacle vehicle. Based on the driving time and distance offset parameter required to reach the preset vertical spacing, the predicted lateral spacing is determined. When the predicted lateral spacing is greater than the preset lateral spacing, the current vehicle is controlled to continue driving along the current lane. The driving trajectory of the obstacle vehicle in the opposite lane can be judged to determine whether the safety condition of satisfying the preset lateral spacing exists between the two vehicles, thereby improving the safety of vehicle driving control.

[0115] When the current vehicle follows an obstacle vehicle in the same lane, the obstacle vehicle may be in a static state, which will greatly reduce the reminder efficiency of the current vehicle.

[0116] Optionally, the method further includes:

[0117] In the case where the current vehicle follows the obstacle vehicle and travels in the same lane, determining the travel speed of the obstacle vehicle;

[0118] When the driving speed is zero, the current vehicle is controlled to travel along a detour trajectory to bypass the obstacle vehicle and continue to travel along the current lane.

[0119] In the embodiment of the present disclosure, the process of determining that the current vehicle follows the obstacle vehicle traveling in the same lane and determining the driving speed of the obstacle vehicle ahead is not described in detail here.

[0120] When it is determined that the speed of the obstacle vehicle is zero, the current vehicle is controlled to drive along the detour trajectory to bypass the obstacle vehicle and continue to drive along the current lane. The detour trajectory can be determined by combining the perception system such as laser radar and camera when it is determined that there is enough turning space between the current vehicle and the obstacle vehicle. Based on the detour trajectory, the vehicle can change lanes to the opposite lane, pass the obstacle vehicle in front, and then return to the current lane.

[0121] By implementing an embodiment of the present disclosure, when a current vehicle follows an obstacle vehicle in the same lane, the driving speed of the obstacle vehicle is determined. When the driving speed is zero, the current vehicle is controlled to travel along a detour trajectory to bypass the obstacle vehicle and continue traveling along the current lane. When it is determined that the obstacle vehicle ahead is stationary, the current vehicle can be controlled to detour, thereby improving the vehicle driving efficiency.

[0122] Some lanes may be located in open air, underground garages, tunnels and other environments. Some of these environments are more dangerous and have more driving restrictions. Therefore, it is necessary to maintain the stability of the current vehicle driving to avoid safety problems.

[0123] Optionally, the step 304 of controlling the current vehicle to continue to follow the obstacle vehicle includes:

[0124] Obtaining the driving speed of the obstacle vehicle and a preset following distance;

[0125] Determining an acceleration corresponding to the current vehicle according to the following distance and the driving speed;

[0126] Based on the acceleration, the current vehicle is controlled to follow the obstacle vehicle to maintain a distance between the current vehicle and the obstacle vehicle at the preset following distance.

[0127] In the embodiment of the present disclosure, when the current vehicle follows the obstacle vehicle in the same lane, the driving speed of the obstacle vehicle is obtained. The obstacle vehicle may brake, accelerate or perform other operations at any time, so the driving speed of the obstacle vehicle may be changing.

[0128] Figure 6 is a schematic diagram of following driving provided by an embodiment of the present disclosure; at the first moment, the current vehicle is at position A, the obstacle vehicle is at position B, and the distance between the current vehicle and the obstacle vehicle is Z1; at the second moment, the current vehicle is at position A1, the obstacle vehicle is at position B1, and the distance between the current vehicle and the obstacle vehicle is Z2. During the time from the first moment to the second moment, the driving distance of the current vehicle is S1, and the driving distance of the obstacle vehicle is S2.

[0129] The speed of the obstacle vehicle can be calculated by the distance between the current vehicle and the obstacle vehicle at different times, as well as the travel distance of the current vehicle. The speed of the obstacle vehicle can also be detected by a laser radar or other sensors.

[0130] In order to maintain the stability of the current vehicle, the distance between the current vehicle and the obstacle vehicle can be controlled to be a preset following distance. According to the preset following distance and driving speed, the acceleration used to control the current vehicle can be determined, and the calculation formula is as follows:

[0131]

[0132] Among them, MSFD is the minimum safety distance, that is, the preset following distance, s p is the speed of the obstacle vehicle, and de is the acceleration of the current vehicle.

[0133] In implementing the embodiments of the present disclosure, when the current vehicle follows the obstacle vehicle in the same lane, the driving speed of the obstacle vehicle is obtained, and the acceleration used to control the current vehicle is determined according to the preset following distance and the driving speed. Based on the acceleration, the driving of the current vehicle is controlled to keep the distance between the current vehicle and the obstacle vehicle at the preset following distance. The current vehicle can be controlled to follow the obstacle vehicle at the preset following distance, thereby improving the safety of vehicle driving.

[0134] In summary, in the embodiments of the present disclosure, when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario, the real-time positions of the current vehicle and the obstacle vehicle can be determined; when the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scenario, the environmental information of the lane is obtained, and it is determined according to the environmental information that the lane is indoors and there is an empty parking space next to the lane; the current vehicle is controlled to stop at the first boundary position of the empty parking space, and when the obstacle vehicle passes the second boundary position, the current vehicle is controlled to continue to follow the obstacle vehicle, so that when the current vehicle and the obstacle vehicle are traveling in an indoor parking scenario, the parking path of the obstacle vehicle and the driving path of the current vehicle are avoided from conflicting, and the current vehicle is avoided from intruding into the parking operation area of ​​the obstacle vehicle, thereby avoiding congestion and the need for occupant intervention control, and improving the parking efficiency and traffic efficiency of vehicles in indoor parking scenarios.

[0135] refer to Figure 7 , which shows an indoor parking control device 70 provided by an embodiment of the present disclosure, comprising:

[0136] The lane vehicle module 701 is used to determine the real-time positions of the current vehicle and the obstacle vehicle respectively when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario; the two-way lane scenario has at least two lanes with opposite driving directions;

[0137] The parking space status module 702 is used to obtain environmental information of the lane when the real-time position indicates that the current vehicle follows the obstacle vehicle in the same lane in the two-way lane scene, and determine that the lane is indoors and there is an empty parking space next to the lane according to the environmental information;

[0138] A stop control module 703 is used to control the current vehicle to stop driving at the first boundary position when the lane is indoors and the obstacle vehicle passes the first boundary position of the vacant parking space to enter the parking operation area corresponding to the vacant parking space;

[0139] The following control module 704 is used to control the current vehicle to continue to follow the obstacle vehicle when the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area; the first boundary position and the second boundary position define the range of the vacant parking space.

[0140] Optional, follower control module, including:

[0141] A driving speed submodule, used for obtaining the driving speed of the obstacle vehicle when the current vehicle follows the obstacle vehicle in the same lane;

[0142] An acceleration submodule, used for determining an acceleration for controlling the current vehicle according to a preset following distance and the driving speed;

[0143] The following distance submodule is used to control the current vehicle to travel based on the acceleration so as to keep the distance between the current vehicle and the obstacle vehicle at the preset following distance.

[0144] Optional, follower control module, including:

[0145] A driving direction submodule, used to determine the driving direction of the obstacle vehicle; the driving direction includes forward and reverse;

[0146] A reverse stop submodule, used for controlling the current vehicle to stop driving when the driving direction is reverse;

[0147] The forward following submodule is used to control the current vehicle to follow the obstacle vehicle when the driving direction is forward.

[0148] Optional, driving direction submodule, including:

[0149] A rear image unit, used to obtain a rear image of the obstacle vehicle and a real-time distance between the current vehicle and the obstacle vehicle;

[0150] A reversing recognition unit is used to determine that the driving direction of the obstacle vehicle is reversing when the color of the taillight in the tail image is a preset color and the real-time distance decreases.

[0151] Optionally, the device further comprises:

[0152] A first spacing module, used for determining, at a first moment, a first spacing between the current vehicle and the obstacle vehicle when the current vehicle is traveling at a constant speed;

[0153] A second distance module, used for determining a second distance between the current vehicle and the obstacle vehicle at a second moment after the first moment;

[0154] The deceleration state module is used to determine that the obstacle vehicle is in a deceleration state when the first distance is greater than the second distance.

[0155] Optionally, the device further comprises:

[0156] a stationary recognition module, configured to determine a second speed of the obstacle vehicle according to a change in the distance between the current vehicle and the obstacle vehicle and a first speed of the current vehicle when the current vehicle and the obstacle vehicle are traveling in different lanes;

[0157] The stationary determination module is used to control the current vehicle to continue traveling along the current lane when the second speed is zero.

[0158] Optionally, the device further comprises:

[0159] A lane distance module, used for obtaining the lateral distance between the obstacle vehicle and the lane line at different times when the current vehicle and the obstacle vehicle are traveling towards each other in different lanes; the lane line is used to separate the lanes in which the current vehicle and the obstacle vehicle are traveling respectively;

[0160] A lateral offset module, used to determine a distance offset parameter corresponding to the obstacle vehicle according to the lateral distance at different times; the distance offset parameter represents the lateral distance offset per unit time;

[0161] A preset vertical module, used to determine the travel time required for the current vehicle and the obstacle vehicle to reach a preset vertical distance;

[0162] A lateral prediction module, configured to determine, based on the travel time and the distance offset parameter, a predicted lateral distance between the current vehicle and the obstacle vehicle when the preset vertical distance is reached;

[0163] The lateral safety module is used to control the current vehicle to continue traveling along the current lane when the predicted lateral distance is greater than the preset lateral distance.

[0164] Optionally, the device further comprises:

[0165] An obstacle speed module, used to determine the driving speed of the obstacle vehicle when the current vehicle follows the obstacle vehicle in the same lane;

[0166] The detour driving module is used to control the current vehicle to drive along a detour trajectory when the driving speed is zero, so as to bypass the obstacle vehicle and continue to drive along the current lane.

[0167] In summary, in the embodiments of the present disclosure, when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario, the real-time positions of the current vehicle and the obstacle vehicle can be determined; when the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scenario, the environmental information of the lane is obtained, and it is determined according to the environmental information that the lane is indoors and there is an empty parking space next to the lane; the current vehicle is controlled to stop at the first boundary position of the empty parking space, and when the obstacle vehicle passes the second boundary position, the current vehicle is controlled to continue to follow the obstacle vehicle, so that when the current vehicle and the obstacle vehicle are traveling in an indoor parking scenario, the parking path of the obstacle vehicle and the driving path of the current vehicle are avoided from conflicting, and the current vehicle is avoided from intruding into the parking operation area of ​​the obstacle vehicle, thereby avoiding congestion and the need for occupant intervention control, and improving the parking efficiency and traffic efficiency of vehicles in indoor parking scenarios.

[0168] The present application also provides an electronic device, such as Figure 8 As shown, it includes a processor 1001 , a communication interface 1002 , a memory 1003 and a communication bus 1004 , wherein the processor 1001 , the communication interface 1002 , and the memory 1003 communicate with each other via the communication bus 1004 .

[0169] The memory 1003 is used to store computer programs.

[0170] When the processor 1001 is used to execute the program stored in the memory 1003, the following steps are implemented: when the current vehicle and the obstacle vehicle are both traveling in a two-way lane scene, the real-time positions of the current vehicle and the obstacle vehicle are determined respectively; the two-way lane scene has at least two lanes with opposite driving directions; when the real-time position indicates that the current vehicle follows the obstacle vehicle in the same lane in the two-way lane scene, the environmental information of the lane is obtained, and it is determined according to the environmental information that the lane is indoors and there is an empty parking space next to the lane; when the lane is indoors and the obstacle vehicle passes the first boundary position of the empty parking space to enter the parking operation area corresponding to the empty parking space, the current vehicle is controlled to stop driving at the first boundary position; when the obstacle vehicle passes the second boundary position of the empty parking space to leave the parking operation area, the current vehicle is controlled to continue to follow the obstacle vehicle.

[0171] Among them, the processor 1001 can also implement other steps in the above-mentioned indoor parking control method, which will not be repeated here.

[0172] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0173] The communication interface is used for communication between the above electronic device and other devices.

[0174] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0175] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0176] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is executed on a computer, the computer executes the indoor parking control method described in the above embodiment.

[0177] In another embodiment provided in the present application, a computer program product including instructions is also provided, and when the computer program product is run on a computer, the computer executes the indoor parking control method described in the above embodiment.

[0178] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The 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 described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may 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 may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may 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 Solid State Disk (SSD)), etc.

[0179] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0180] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0181] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An indoor parking control method, characterized in that: The method comprises: In the case where both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario, respectively determining the real-time positions of the current vehicle and the obstacle vehicle; the two-way lane scenario has at least two lanes with opposite driving directions; When the real-time position indicates that the current vehicle is following the obstacle vehicle in the same lane in the two-way lane scene, obtaining environmental information of the lane, and determining, based on the environmental information, that the lane is indoors and there is an empty parking space next to the lane; When the lane is indoors and the obstacle vehicle passes the first boundary position of the vacant parking space to enter the parking operation area corresponding to the vacant parking space, controlling the current vehicle to stop driving at the first boundary position; When the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area, the current vehicle is controlled to continue to follow the obstacle vehicle; the first boundary position and the second boundary position define the range of the vacant parking space.

2. The method according to claim 1, characterized in that The step of controlling the current vehicle to continue to follow the obstacle vehicle comprises: Obtaining the driving speed of the obstacle vehicle and a preset following distance; Determining an acceleration corresponding to the current vehicle according to the following distance and the driving speed; Based on the acceleration, the current vehicle is controlled to follow the obstacle vehicle to maintain a distance between the current vehicle and the obstacle vehicle at the preset following distance.

3. The method according to claim 1, characterized in that The step of controlling the current vehicle to continue to follow the obstacle vehicle comprises: Determine the driving direction of the obstacle vehicle; the driving direction includes forward and reverse; When the driving direction is reverse, controlling the current vehicle to stop driving; When the driving direction is forward, the current vehicle is controlled to follow the obstacle vehicle.

4. The method according to claim 3, characterized in that The step of determining the driving direction of the obstacle vehicle comprises: Acquire the rear image of the obstacle vehicle and the real-time distance between the current vehicle and the obstacle vehicle; When the color of the taillight in the rear image is a preset color and the real-time distance decreases, it is determined that the traveling direction of the obstacle vehicle is reversing.

5. The method according to claim 1, characterized in that The method further comprises: In the case where the current vehicle is traveling at a constant speed, determining, at a first moment, a first distance between the current vehicle and the obstacle vehicle; At a second moment after the first moment, determining a second distance between the current vehicle and the obstacle vehicle; In the case where the first distance is greater than the second distance, it is determined that the obstacle vehicle is in a deceleration state, so as to enter the step of controlling the current vehicle to stop traveling at the first boundary position.

6. The method according to claim 1, characterized in that The method further comprises: In a case where the current vehicle and the obstacle vehicle are traveling in different lanes, determining a second speed of the obstacle vehicle according to a change in the distance between the current vehicle and the obstacle vehicle and a first speed of the current vehicle; When the second speed is zero, the current vehicle is controlled to continue traveling along the current lane.

7. The method according to claim 1, characterized in that The method further comprises: In the case where the current vehicle and the obstacle vehicle are traveling towards each other in different lanes, obtaining the lateral distance between the obstacle vehicle and the lane line at different times; the lane line is used to separate the lanes in which the current vehicle and the obstacle vehicle are traveling respectively; Determine the distance offset parameter corresponding to the obstacle vehicle according to the lateral distance at different times; the distance offset parameter represents the lateral distance offset per unit time; Determining the travel time required for the current vehicle and the obstacle vehicle to reach a preset vertical distance; Determining, based on the travel time and the distance offset parameter, a predicted lateral distance between the current vehicle and the obstacle vehicle when the preset vertical distance is reached; When the predicted lateral distance is greater than the preset lateral distance, the current vehicle is controlled to continue traveling along the current lane.

8. An indoor parking control device, characterized in that: The device comprises: A lane vehicle module, for respectively determining the real-time positions of the current vehicle and the obstacle vehicle when both the current vehicle and the obstacle vehicle are traveling in a two-way lane scenario; the two-way lane scenario has at least two lanes with opposite driving directions; a parking space status module, configured to obtain environmental information of the lane when the real-time position indicates that the current vehicle follows the obstacle vehicle in the same lane in the two-way lane scene, and determine, based on the environmental information, that the lane is indoors and there is an empty parking space next to the lane; a stop control module, configured to control the current vehicle to stop driving at a first boundary position when the lane is indoors and the obstacle vehicle passes a first boundary position of the vacant parking space to enter a parking operation area corresponding to the vacant parking space; The following control module is used to control the current vehicle to continue to follow the obstacle vehicle when the obstacle vehicle passes the second boundary position of the vacant parking space to leave the parking operation area; the first boundary position and the second boundary position define the range of the vacant parking space.

9. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the indoor parking control method as described in any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the indoor parking control method according to any one of claims 1 to 7 are implemented.

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