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

Abstract

The application provides an indoor parking control method, device and equipment and a readable storage medium. The method comprises the following steps: in the case that a current vehicle and an obstacle vehicle are both driving in a two-way lane scene, determining real-time positions of the current vehicle and the obstacle vehicle; in the case that the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is driving in the same lane as the obstacle vehicle in the two-way lane scene, acquiring environment information of the lane, and determining that the lane is indoor and that there is a free parking space beside the lane according to the environment information; in the case that the lane is indoor and that the obstacle vehicle drives through a first boundary position of the free parking space to enter a parking operation area corresponding to the free parking space, controlling the current vehicle to stop driving at the first boundary position; and in the case that the obstacle vehicle drives through a second boundary position to leave the parking operation area, controlling the current vehicle to continue driving following the obstacle vehicle. The application improves the parking efficiency and traffic efficiency of vehicles in an indoor parking scene.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of vehicles, and particularly relate to an indoor parking control method and device, electronic equipment and a computer readable storage medium. BACKGROUND

[0002] Vehicles have become an indispensable part of people's daily life, and vehicles provide 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] Currently, valet parking technology can automatically find a parking space and park, and can control the vehicle to park out of the parking space when the vehicle is needed.

[0004] However, the current solution still cannot fully consider the mutual relationship between the ego vehicle, other vehicles and the environment, resulting in conflicts in the driving of the ego vehicle and other vehicles, and low parking efficiency and traffic efficiency. SUMMARY

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

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

[0007] In the case that the current vehicle and the obstacle vehicle are both driving 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;

[0008] In the case that the real-time positions indicate that the current vehicle follows the obstacle vehicle to drive in the same lane in the two-way lane scene, the environment information of the lane is obtained, and it is determined according to the environment information that the lane is indoor and there is an idle parking space beside the lane;

[0009] In the case that the lane is indoor, and the obstacle vehicle drives through a first boundary position of the idle parking space to enter a parking operation area corresponding to the idle parking space, the current vehicle is controlled to stop driving at the first boundary position;

[0010] In the case that the obstacle vehicle drives through a second boundary position of the idle parking space to drive away from the parking operation area, the current vehicle is controlled to continue to follow the obstacle vehicle to drive; the first boundary position and the second boundary position define the range of the idle parking space.

[0011] In a second aspect, the embodiments of the present disclosure disclose an indoor parking control device, which comprises:

[0012] a lane vehicle module configured to determine real-time positions of a current vehicle and an obstacle vehicle respectively when the current vehicle and the obstacle vehicle are both driving in a two-way lane scene, wherein the two-way lane scene has at least two lanes with opposite driving directions;

[0013] a parking space state module configured to acquire environment information of the lane and determine that the lane is indoor and has an idle parking space beside the lane according to the environment information when the real-time positions indicate that the current vehicle and the obstacle vehicle are driving in the same lane in the two-way lane scene;

[0014] a stopping control module configured to control the current vehicle to stop driving at a first boundary position of the idle parking space when the lane is indoor and the obstacle vehicle drives through the first boundary position to enter a parking operation area corresponding to the idle parking space;

[0015] a following control module configured to control the current vehicle to continue driving following the obstacle vehicle when the obstacle vehicle drives through a second boundary position of the idle parking space to drive away from the parking operation area, wherein the first boundary position and the second boundary position define a range of the idle parking space.

[0016] In a third aspect, the embodiments of the present disclosure further disclose an electronic device, which comprises a processor and a memory, wherein the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the indoor parking control method according to the first aspect.

[0017] In a fourth aspect, the embodiments of the present disclosure further disclose a computer readable storage medium, wherein the readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the indoor parking control method according to the first aspect.

[0018] In the embodiment of the present disclosure, the real-time positions of the current vehicle and the obstacle vehicle can be determined when the current vehicle and the obstacle vehicle are both driving in a two-way lane scene. When the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is driving in the same lane as the obstacle vehicle in the two-way lane scene, the environment information of the lane is acquired, and it is determined according to the environment information that the lane is indoors and there is a free parking space beside the lane. The current vehicle is controlled to stop driving at a first boundary position of the free parking space, and when the obstacle vehicle drives through a second boundary position, the current vehicle is controlled to continue driving following the obstacle vehicle. This can avoid the parking path of the obstacle vehicle and the driving path of the current vehicle from conflicting when the current vehicle and the obstacle vehicle are driving in an indoor parking scene, avoid the current vehicle from invading the parking operation area of the obstacle vehicle, and further avoid congestion and the need for passenger intervention control, thereby improving the parking efficiency and traffic efficiency of the vehicle in the indoor parking scene. BRIEF DESCRIPTION OF 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 a free 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 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 is a block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thoroughly and completely understood, and so that the scope of the present application will be completely conveyed to those skilled in the art.

[0028] With the increasing maturity of intelligent driving technology, the Auto Parking Asist (APA) technology has gradually failed to meet the expectations of many users for intelligent driving, and the Automated Valet Parking (AVP) technology has begun to be applied. AVP is an L4 level (based on L0-L5 automatic driving technology classification system) autonomous driving technology, mainly used in parking scenarios, through a smartphone application or the vehicle's own system, to achieve automatic parking and vehicle pickup 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 comprises:

[0030] Step 101, in the case where the current vehicle and the obstacle vehicle are both driving 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.

[0031] In the embodiments of the present disclosure, the execution subject of the method steps can be a vehicle controller of the current vehicle, or a server or the like capable of communicating with the vehicle, which is not limited herein. The current vehicle can be a vehicle that needs to be controlled to realize automated valet parking, and the obstacle vehicle is a vehicle that interferes with the driving of the current vehicle. The two-way lane scene has at least two lanes with opposite driving directions, for example, the two-way lane scene includes two lanes with opposite directions, and the two-way lane scene can also include more lanes, which is not limited herein.

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

[0033] For example, laser point cloud data of the environment around the current vehicle can be obtained by a laser radar of the vehicle. The laser radar can measure the angle and distance of the objects around the vehicle with high accuracy, for example, to determine the relative position of the obstacle vehicle and the current vehicle to determine the real-time position of the obstacle vehicle, and to perform simultaneous localization and environment map construction based on the data collected by the camera.

[0034] wherein the current vehicle (for short, 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 a motion equation, indicating that the current vehicle pose X k at time k is determined by the pose f(x k-1 ) at time k-1, and a noise amount u k-1 is added due to possible errors in the actual environment, which forms a certain constraint on the change of the pose.

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

[0038] The above formula is an observation equation, indicating that the sensor observation value y at time k is determined by the current vehicle pose h(x k ), and the actual environment error is V k . The motion equation can describe how the state x k-1 changes to x k , and the observation equation describes how to obtain the observation data y k from x k , which can more truly reflect the actual pose of the current vehicle.

[0039] In step 102, when the real-time positions indicate that the current vehicle follows the obstacle vehicle to travel in the same lane in the bidirectional lane scene, the environment information of the lane is acquired, and it is determined according to the environment information that the lane is indoor and there is a free parking space beside the lane.

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

[0041] When the current vehicle follows the obstacle vehicle to travel in the same lane in the bidirectional lane scene, the surrounding environment can be detected and the environment information can be acquired by the sensor of the current vehicle, for example, a camera and a laser radar, the environment information can be an environment image, point cloud data, etc., and it is determined based on the environment information that the lane is indoor and there is a free parking space beside the lane. For example, the current vehicle can follow the obstacle vehicle in front to travel in the process of automatic valet parking, and an environment image of the surrounding environment can be captured by a fisheye camera, and it is determined based on the environment image that the current vehicle is in an underground parking lot and there is a parking space beside the lane.

[0042] It can also be that the indoor parking scenario is associated with an intelligent parking system, and the intelligent parking system detects that there is a free parking space and interacts with the current vehicle to determine that the current situation is an indoor parking scenario and that there is a free parking space next to the lane. In this case, it is not specifically limited that the environmental information is used to determine whether there is a free parking space.

[0043] It can be understood that there can be one or more free parking spaces, and multiple free parking spaces can be discontinuous (i.e., scattered) or continuous (i.e., side-by-side).

[0044] Step 103: In a case where the lane is indoors, and the obstacle vehicle drives through a first boundary position of the free parking space to enter a parking operation area corresponding to the free parking space, the current vehicle is controlled to stop driving at the first boundary position.

[0045] In the embodiments of the present disclosure, the range of the free parking space is defined by a first boundary position and a second boundary position, which can be two corner points of the free parking space close to one side of the lane. The first boundary position can be a position that the current vehicle and the obstacle vehicle reach first, and both the current vehicle and the obstacle vehicle need to pass through the first boundary position first and then continue to drive forward to reach the second boundary position.

[0046] When the obstacle vehicle drives through the first boundary position of the free parking space, it indicates that the obstacle vehicle enters the parking operation area corresponding to the free parking space. The parking operation area can be located on the lane outside the free parking space, and the vehicle usually needs to perform a turning, reversing, or other parking operation in the parking operation area on the lane to park in the parking space.

[0047] In order to avoid the current vehicle from invading the parking operation area of the obstacle vehicle and interfering with the parking of the obstacle vehicle when following the obstacle vehicle, the current vehicle can be controlled to stop driving at the first boundary position of the free parking space, thereby avoiding entering the parking path or parking range of the obstacle vehicle. It should be noted that driving through the first boundary position can mean that the entire vehicle body drives through the boundary line extending outward from the first boundary position. Similarly, stopping driving at the first boundary position can mean that the front of the vehicle stops at the boundary line extending outward from the first boundary position. In addition to stopping driving at the first boundary position, there can also be an additional redundant distance, such as a position one meter away from the first boundary position.

[0048] Step 104: In a case where the obstacle vehicle drives through a second boundary position of the free parking space to drive away from the parking operation area, the current vehicle is controlled to continue following the obstacle vehicle; the first boundary position and the second boundary position define the range of the free parking space.

[0049] In the embodiments of the present disclosure, since the second boundary position is already the boundary of the free parking space, the fact that the obstacle vehicle drives through the second boundary position means that the obstacle vehicle has driven out of the parking-in operation area corresponding to the free parking space, and it can be considered that the obstacle vehicle will not park in the free parking space, so the current vehicle can be controlled to continue to follow the obstacle vehicle to drive.

[0050] Figure 2 is a schematic diagram of a free parking space in the embodiments of the present disclosure; Figure 2 may include a parking space 211, a parking space 212, a parking space 213, a current vehicle 221 and an obstacle vehicle 222. Each parking space has a respective first boundary position and a second boundary position. It can be understood that, since the three parking spaces are arranged in series and side by side, the second boundary position of the parking space 211 is also the first boundary position of the parking space 212, and the other positions are similar, which will not be described here.

[0051] In the state A of Figure 2 , when the tail of the obstacle vehicle 222 has not driven through the second boundary position (position 232) of the parking space 211, the head of the current vehicle 221 needs to stop at the first boundary position (position 231) of the parking space 211. After the tail of the obstacle vehicle 222 drives through the second boundary position (position 232) of the parking space 211, the current vehicle 221 can continue to drive forward. Similarly, in the state B of Figure 2 , the obstacle vehicle 222 will continue to enter the parking space 212, and before the tail of the obstacle vehicle 222 drives through the second boundary position 233 of the parking space 212, the head 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, the real-time positions of the current vehicle and the obstacle vehicle can be determined when the current vehicle and the obstacle vehicle are driving in a bidirectional lane scene. When the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle to drive in the same lane in the bidirectional lane scene, the environment information of the lane is acquired, it is determined according to the environment information that the lane is in an indoor parking scene and there is a free parking space beside the lane, the current vehicle is controlled to stop driving at the first boundary position of the free parking space, and the current vehicle is controlled to continue to follow the obstacle vehicle to drive when the obstacle vehicle drives through the second boundary position. The conflict between the parking path of the obstacle vehicle and the driving path of the current vehicle when the current vehicle and the obstacle vehicle drive in the indoor parking scene can be avoided, the current vehicle invading the parking operation area of the obstacle vehicle is avoided, and the problems of congestion and the need for passenger intervention control are avoided, thereby improving the parking efficiency and the traffic efficiency of the vehicles in the indoor parking scene.

[0053] Reference is made to Figure 3 which shows a step diagram of an indoor parking control method provided by the embodiments of the present disclosure, and the method comprises:

[0054] In step 301, real-time positions of the current vehicle and the obstacle vehicle are determined respectively in a case that the current vehicle and the obstacle vehicle are both driving in a two-way lane scene; the two-way lane scene has at least two lanes with opposite driving directions.

[0055] In step 302, environment information of the lane is acquired in a case that the real-time positions indicate that the current vehicle is following the obstacle vehicle to drive in the same lane in the two-way lane scene, and the lane is determined to be indoor and have a free parking space beside the lane according to the environment information.

[0056] In step 303, the current vehicle is controlled to stop driving at a first boundary position of the free parking space in a case that the lane is indoor, and the obstacle vehicle drives through the first boundary position to enter a parking operation area corresponding to the free parking space.

[0057] In step 304, the current vehicle is controlled to continue following the obstacle vehicle to drive in a case that the obstacle vehicle drives through a second boundary position of the free parking space to drive away from the parking operation area; the first boundary position and the second boundary position define a range of the free parking space.

[0058] The steps 301-304 can refer to the content of the above Figure 1 Embodiments, which will not be described here again.

[0059] In the process that the current vehicle follows the obstacle vehicle to drive, the driving state of the obstacle vehicle directly affects the traffic efficiency and driving safety of the current vehicle, and therefore the current vehicle needs to be controlled 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 following the obstacle vehicle to drive includes:

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

[0062] controlling the current vehicle to stop driving in a case that the driving direction is reverse driving;

[0063] controlling the current vehicle to follow the obstacle vehicle to drive in a case that the driving direction is forward driving.

[0064] In the embodiments of the present disclosure, in a case that the current vehicle follows the obstacle vehicle to drive in the same lane, the driving direction of the obstacle vehicle can be determined, and the driving direction can be forward driving (forward) and reverse driving (backward).

[0065] In the case that the driving direction of the obstacle vehicle is determined to be reversing, the current vehicle is following the obstacle vehicle, and the obstacle vehicle is reversing, a collision is likely to occur, so 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] Further, in the case that the driving direction of the obstacle vehicle is determined to be advancing, the current vehicle can be controlled to continue following the obstacle vehicle.

[0067] The embodiments of the present disclosure can determine the driving direction of the obstacle vehicle when the current vehicle is following the obstacle vehicle in the same lane, control the current vehicle to stop driving in the case that the driving direction of the obstacle vehicle is determined to be reversing, and control the current vehicle to continue following the obstacle vehicle in the case that the driving direction of the obstacle vehicle is determined to be advancing. The driving of the current vehicle can be controlled according to the specific state of the obstacle vehicle, and the traffic efficiency and safety of the current vehicle following the obstacle vehicle are improved.

[0068] When the driving of the current vehicle is controlled based on the driving direction of the obstacle vehicle, the driving direction of the obstacle vehicle needs to be accurately determined. If the driving direction of the obstacle vehicle is determined incorrectly, the driving of the current vehicle will be controlled incorrectly, 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 comprises:

[0070] obtaining a tail image of the obstacle vehicle and a real-time distance between the current vehicle and the obstacle vehicle;

[0071] In the case that the color of the tail lamp in the tail image is a preset color and the real-time distance decreases, the driving direction of the obstacle vehicle is determined to be reversing.

[0072] In the embodiments of the present disclosure, when the current vehicle is following the obstacle vehicle in the same lane, the obstacle vehicle is located in front of the current vehicle, so the tail image of the obstacle vehicle can be obtained by the camera of the current vehicle.

[0073] The tail image can be subjected to image denoising, grayscale processing, edge detection, image enhancement, and the like. The specific position of the tail lamp in the tail image can be identified based on the symmetry of the tail lamp, and the color of the tail lamp can be identified based on the specific position. In addition, the distance between the current vehicle and the obstacle vehicle can be detected by a laser radar to obtain the real-time distance.

[0074] Figure 4 is a schematic diagram of a tail image processing process provided by the embodiments of the present disclosure; Figure 4The image in state A is an image after image denoising, grayscale, edge detection, image enhancement, and the like. Figure 4 The image in state B is an image in which the tail light is further identified in the processed tail image based on the symmetry of the tail light.

[0075] In a case where the color of the tail light in the tail image is a preset color and the real-time distance is reduced, it is determined that the driving direction of the obstacle vehicle is reversing, i.e., the obstacle vehicle is reversing.

[0076] By implementing the embodiments of the present disclosure, in a case where the current vehicle follows the obstacle vehicle to drive in the same lane, the tail image of the obstacle vehicle and the real-time distance between the current vehicle and the obstacle vehicle are obtained, and in a case where the color of the tail light in the tail image is a preset color and the real-time distance is reduced, it is determined that the driving direction of the obstacle vehicle, which can determine whether the obstacle vehicle is reversing based on the color of the tail light and the real-time distance between the vehicles, improves the accuracy of the state determination of the obstacle vehicle.

[0077] Optionally, the method further comprises:

[0078] In a case where the current vehicle drives at a constant speed, at a first time, a first distance between the current vehicle and the obstacle vehicle is determined.

[0079] At a second time after the first time, a second distance between the current vehicle and the obstacle vehicle is determined.

[0080] In a 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 driving at the first boundary position.

[0081] In the embodiments of the present disclosure, it can be understood that, in a case where there is an idle parking space, the obstacle vehicle in front has a possibility of parking. On this basis, it can be further detected whether the speed of the obstacle vehicle is reduced. If there is an idle parking space and the obstacle vehicle in front 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 decelerated can be used as a pre-triggering condition for controlling the current vehicle to stop driving at the first position.

[0082] In the current vehicle is driving at a constant speed, the first distance and the second distance between the current vehicle and the obstacle vehicle at different time can be used to determine whether the obstacle vehicle is decelerating. Since the current vehicle is driving at a constant speed, when the first distance is greater than the second distance, i.e., the distance is reduced, it indicates that the obstacle vehicle in front is decelerating; when the first distance is less than the second distance, i.e., the distance is increased, it indicates that the obstacle vehicle in front is accelerating; and when the first distance is equal to the second distance, i.e., the distance is unchanged, it indicates that the obstacle vehicle in front is also driving at a constant speed.

[0083] It can be understood that the obstacle vehicle can be determined to be decelerating in more different ways, for example, by communicating with the obstacle vehicle to obtain the position information and speed information detected by the obstacle vehicle itself. The speed of the obstacle vehicle can also be continuously detected by a laser radar or other sensors to determine whether the obstacle vehicle is decelerating.

[0084] By implementing the embodiments of the present disclosure, on the basis of the existence of the idle parking space, it is further determined that the obstacle vehicle is in a deceleration state, it can be determined that the obstacle vehicle has a higher parking possibility or parking intention, and then the current vehicle can be controlled to stop driving at the first boundary position, thereby improving the accuracy of vehicle control.

[0085] In the bidirectional lane scenario, the current vehicle and the obstacle vehicle can be driving on lanes in different directions. When the driving process of the current vehicle is controlled, the state of the obstacle vehicle on the opposite lane also needs to be determined, otherwise safety problems of vehicle driving can be caused.

[0086] Optionally, the method further comprises:

[0087] In the case that the current vehicle and the obstacle vehicle are driving on different lanes, the second speed of the obstacle vehicle is determined according to the distance change between the current vehicle and the obstacle vehicle and the first speed of the current vehicle;

[0088] In the case that the second speed is zero, the current vehicle is controlled to continue driving on the current lane.

[0089] In the embodiments of the present disclosure, the current vehicle and the obstacle vehicle can also be determined to be driving on different lanes based on a camera and a laser radar, or the current vehicle and the obstacle vehicle can interact information related to driving, so that the current vehicle can determine that the two are driving on different lanes. The current vehicle and the obstacle vehicle are driving on 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 first distance between the current vehicle and the obstacle vehicle can be detected, 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 can be understood that the size relationship between the first distance and the second distance can be indefinite, the first distance can be greater than the second distance, that is, the distance between the two vehicles is reduced. In the case of two lanes and opposite lane directions, the distance reduction can be that the two vehicles are moving towards each other, that is, each vehicle is driving towards the other vehicle, or the obstacle vehicle is stationary and the current vehicle is driving towards the obstacle vehicle. In the case of two lanes and the same lane direction, the distance reduction can be that the speed of the obstacle vehicle is slower than that of the current vehicle.

[0092] The first distance can be less than the second distance, that is, the distance between the two vehicles is enlarged. In the case of two lanes and opposite lane directions, the distance between the current vehicle and the obstacle vehicle will only remain unchanged or be reduced. In the case of two lanes and the same lane direction, the distance enlargement can be that the speed of the obstacle vehicle is faster than that of the current vehicle.

[0093] Based on the distance change and the first speed of the current vehicle, the second speed of the obstacle vehicle can be calculated. For the above different lane conditions, there can be different calculation methods. For the distance reduction caused by the stationary obstacle vehicle and the driving of the current vehicle towards the obstacle vehicle in the case of two lanes and opposite lane directions, the following calculation process can be used:

[0094] ΔS=(v z -v d )·Δt+k

[0095] Where ΔS is the distance change 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 a correction coefficient, and Δt is a preset reference time length.

[0096] The driving trajectory of the current vehicle can be calculated by the wheel speed pulse, and the driving path ΔZ of the current vehicle 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 d of the obstacle vehicle 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 continues to drive along the current lane.

[0098] In the embodiments of the present disclosure, in the case that the current vehicle and the obstacle vehicle travel in different lanes, the second speed of the obstacle vehicle is determined according to the distance variation between the current vehicle and the obstacle vehicle, and the first speed of the current vehicle. In the case that the second speed is zero, the current vehicle is controlled to continue traveling in the current lane, which can determine the state of the obstacle vehicle in the opposite lane, and when the obstacle vehicle is stationary, the current vehicle can be directly controlled to continue traveling in the current lane, thereby improving the safety of the travel control.

[0099] In the bidirectional lane scenario, the current vehicle and the obstacle vehicle can travel in lanes in different directions. When the travel process of the current vehicle is controlled, the state of the obstacle vehicle in the opposite lane also needs to be determined, otherwise the safety of the vehicle travel will be affected.

[0100] Optionally, the method further comprises:

[0101] In the case that the current vehicle and the obstacle vehicle travel in different lanes in opposite directions, the lateral distance of the obstacle vehicle from the lane line at different time points is obtained; the lane line is used to separate the lanes in which the current vehicle and the obstacle vehicle travel, respectively;

[0102] According to the lateral distance at different time points, a distance offset parameter corresponding to the obstacle vehicle is determined; the distance offset parameter represents the lateral distance offset amount per unit time;

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

[0104] 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 is determined;

[0105] In the case that the predicted lateral distance is greater than a preset lateral distance, the current vehicle is controlled to continue traveling in the current lane.

[0106] In the embodiments of the present disclosure, the current vehicle and the obstacle vehicle travel in different lanes in opposite directions, and each vehicle travels towards the other vehicle. The lanes in which the current vehicle and the obstacle vehicle travel are separated by lane lines.

[0107] Since it is difficult to ensure that the travel route of the obstacle vehicle is completely parallel to the lane line when the obstacle vehicle travels, the obstacle vehicle may gradually approach or gradually move away from the lane line during the travel process. The lateral distance of the obstacle vehicle from the lane line at different time points can be obtained, and a corresponding distance offset parameter can be determined. The distance offset parameter represents the lateral distance offset of the obstacle vehicle per unit time relative to the lane line, and the distance offset parameter can also represent whether the obstacle vehicle gradually moves away from the lane line or gradually approaches the lane line.

[0108]

[0109] wherein y is a distance offset parameter, L1 is the distance of the obstacle vehicle from the lane line at the second time t1, and L0 is the distance of the obstacle vehicle from the lane line at the first time t0.

[0110] The preset vertical distance is a distance reached by the current vehicle and the obstacle vehicle after gradually approaching each other in the process of driving in opposite directions. The vertical distance can be determined based on a line A perpendicular to the lane line and passing through the front of the current vehicle, and a line B perpendicular to the lane line and passing through the front of the obstacle vehicle. The line A and the line B are parallel, and the distance between the line A and the line B is the vertical distance between the current vehicle and the obstacle vehicle.

[0111] After the speed of the current vehicle and the obstacle vehicle, and the vertical distance between the two vehicles are determined, the driving 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 driving time can be calculated, which is the predicted lateral distance.

[0112] If the predicted lateral distance is greater than the preset lateral distance, it indicates that the two vehicles do not have a risk of collision, and the driving trajectories of the two vehicles are safe, and the current vehicle is controlled to continue driving in the current lane.

[0113] Figure 5 FIG. 1 is a schematic diagram of the distance between the current vehicle and the obstacle vehicle according to an embodiment of the present disclosure; Figure 5 In FIG. 1, the current vehicle A car 510, the obstacle vehicle B car 521, and the obstacle vehicle B car 522 are included. The obstacle vehicle B car 521 and the obstacle vehicle B car 522 are different positions of the same obstacle vehicle at different times. The distance of the B car 521 from the lane line at the time t0 is L0, the distance of the B car 522 from the lane line at the time t1 is L1, and Z is the vertical distance.

[0114] By obtaining the lateral distance of the obstacle vehicle from the lane line at different times, determining the distance offset parameter corresponding to the obstacle vehicle, determining the predicted lateral distance based on the driving time required to reach the preset vertical distance and the distance offset parameter, and controlling the current vehicle to continue driving in the current lane when the predicted lateral distance is greater than the preset lateral distance, the driving trajectory of the obstacle vehicle in the opposite lane can be determined, and it is determined that the two vehicles have a safe condition that satisfies the preset lateral distance, thereby improving the safety of vehicle driving control.

[0115] When the current vehicle follows the obstacle vehicle to drive in the same lane, the obstacle vehicle can be in a static state, which greatly reduces the reminding efficiency of the current vehicle.

[0116] Optionally, the method further comprises:

[0117] determining a driving speed of the obstacle vehicle when the current vehicle follows the obstacle vehicle in the same lane;

[0118] controlling the current vehicle to drive according to a detour trajectory to bypass the obstacle vehicle and continue driving in the current lane when the driving speed is zero.

[0119] In the embodiments of the present disclosure, the process of determining that the current vehicle follows the obstacle vehicle in the same lane and determining the driving speed of the obstacle vehicle is not repeated here.

[0120] controlling the current vehicle to drive according to a detour trajectory to bypass the obstacle vehicle and continue driving in the current lane when the driving speed of the obstacle vehicle is zero. The detour trajectory can be a driving trajectory determined by combining a laser radar and a camera and the like sensing system when it is determined that there is enough turning space between the current vehicle and the obstacle vehicle, and driving based on the detour trajectory can change lanes to the opposite lane, pass the obstacle vehicle in front and then return to the current lane.

[0121] By 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 determined, and when the driving speed is zero, the current vehicle is controlled to drive according to a detour trajectory to bypass the obstacle vehicle and continue driving in the current lane, which can control the current vehicle to detour when it is determined that the obstacle vehicle in front is stationary, thereby improving the driving efficiency of the vehicle.

[0122] Some lanes are located in environments such as open air, underground garage, tunnel and the like, some of which have high danger and many restrictions on driving, and 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 following the obstacle vehicle to drive includes:

[0124] obtaining a 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] controlling the current vehicle to follow the obstacle vehicle to drive based on the acceleration, so as to maintain the distance between the current vehicle and the obstacle vehicle as the preset following distance.

[0127] In the embodiment of the present disclosure, in the case that the current vehicle follows the obstacle vehicle to travel in the same lane, the travel speed of the obstacle vehicle is obtained. The obstacle vehicle can brake, accelerate and perform other operations at any time, so the travel speed of the obstacle vehicle can be changing.

[0128] Figure 6 FIG. 1 is a schematic diagram of following travel provided by the embodiment of the present disclosure; at a first time, 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 a second time, 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. In the time length from the first time to the second time, the travel distance of the current vehicle is S1, and the travel distance of the obstacle vehicle is S2.

[0129] The travel speed of the obstacle vehicle can be calculated by the distance between the current vehicle and the obstacle vehicle at different times and the travel distance of the current vehicle, or 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 the travel speed, the acceleration for controlling the current vehicle can be determined, and the calculation formula is as follows:

[0131]

[0132] wherein, MSFD is the minimum safety distance, i.e., the preset following distance, s p is the travel speed of the obstacle vehicle, and de is the acceleration of the current vehicle.

[0133] The embodiment of the present disclosure is implemented by obtaining the travel speed of the obstacle vehicle in the case that the current vehicle follows the obstacle vehicle to travel in the same lane, determining the acceleration for controlling the current vehicle according to the preset following distance and the travel speed, and controlling the current vehicle to travel based on the acceleration, so as to maintain the distance between the current vehicle and the obstacle vehicle to be the preset following distance. The current vehicle can be controlled to follow the obstacle vehicle to travel according to the preset following distance, and the safety of vehicle travel is improved.

[0134] In summary, in the embodiments of the present disclosure, the real-time positions of the current vehicle and the obstacle vehicle can be determined when the current vehicle and the obstacle vehicle are both driving in a bidirectional lane scene; when the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle to drive in the same lane in the bidirectional lane scene, the environment information of the lane is acquired, and it is determined according to the environment information that the lane is indoor and there is a free parking space beside the lane; the current vehicle is controlled to stop driving at a first boundary position of the free parking space, and when the obstacle vehicle drives through a second boundary position, the current vehicle is controlled to continue following the obstacle vehicle to drive, which can avoid the conflict between the parking path of the obstacle vehicle and the driving path of the current vehicle when the current vehicle and the obstacle vehicle are driving in an indoor parking scene, avoid the current vehicle invading the parking operation area of the obstacle vehicle, and further avoid the problem of congestion and the need for passenger intervention control, thereby improving the parking efficiency and traffic efficiency of the vehicle in the indoor parking scene.

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

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

[0137] The parking space state module 702 is configured to acquire environment information of the lane and determine that the lane is indoor and there is a free parking space beside the lane according to the environment information when the real-time positions indicate that the current vehicle is following the obstacle vehicle to drive in the same lane in the bidirectional lane scene.

[0138] The stop control module 703 is configured to control the current vehicle to stop driving at a first boundary position of the free parking space when the lane is indoor and the obstacle vehicle drives through the first boundary position to enter a parking operation area corresponding to the free parking space.

[0139] The following control module 704 is configured to control the current vehicle to continue following the obstacle vehicle to drive when the obstacle vehicle drives through a second boundary position of the free parking space to drive away from the parking operation area; the first boundary position and the second boundary position define the range of the free parking space.

[0140] Optionally, the following control module comprises:

[0141] The driving speed submodule is configured to acquire the driving speed of the obstacle vehicle when the current vehicle is following the obstacle vehicle to drive in the same lane.

[0142] an acceleration submodule configured to determine an acceleration for controlling the current vehicle according to the preset following distance and the driving speed;

[0143] a following distance submodule configured to control the current vehicle to drive to keep the distance between the current vehicle and the obstacle vehicle as the preset following distance based on the acceleration.

[0144] Optionally, the following control module comprises:

[0145] a driving direction submodule configured to determine a driving direction of the obstacle vehicle; the driving direction comprises forward driving and reverse driving;

[0146] a reverse stopping submodule configured to control the current vehicle to stop driving in a case where the driving direction is reverse driving;

[0147] a forward following submodule configured to control the current vehicle to follow the obstacle vehicle to drive in a case where the driving direction is forward driving.

[0148] Optionally, the driving direction submodule comprises:

[0149] a tail image unit configured to acquire a tail image of the obstacle vehicle and a real-time distance between the current vehicle and the obstacle vehicle;

[0150] a reverse identification unit configured to determine that the driving direction of the obstacle vehicle is reverse driving in a case where a tail lamp color in the tail image is a preset color and the real-time distance decreases.

[0151] Optionally, the device further comprises:

[0152] a first distance module configured to determine a first distance between the current vehicle and the obstacle vehicle at a first time in a case where the current vehicle drives at a constant speed;

[0153] a second distance module configured to determine a second distance between the current vehicle and the obstacle vehicle at a second time after the first time;

[0154] a deceleration state module configured to determine that the obstacle vehicle is in a deceleration state in a case where the first distance is greater than the second distance.

[0155] Optionally, the device further comprises:

[0156] a static identification module configured to determine a second speed of the obstacle vehicle according to a distance change between the current vehicle and the obstacle vehicle and a first speed of the current vehicle in a case where the current vehicle and the obstacle vehicle drive in different lanes.

[0157] A stationary determination module is configured to control the current vehicle to continue driving along the current lane when the second speed is zero.

[0158] Optionally, the device further comprises:

[0159] A lane distance module is configured to obtain a lateral distance between the obstacle vehicle and a lane line at different time instants when the current vehicle and the obstacle vehicle drive in different lanes, the lane line being used to separate the lanes in which the current vehicle and the obstacle vehicle drive, respectively.

[0160] A lateral offset module is configured to determine a distance offset parameter corresponding to the obstacle vehicle according to the lateral distances at the different time instants, the distance offset parameter representing a lateral distance offset amount per unit time.

[0161] A preset vertical module is configured to determine a driving time required for the current vehicle and the obstacle vehicle to reach a preset vertical distance.

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

[0163] A lateral safety module is configured to control the current vehicle to continue driving along the current lane when the predicted lateral distance is greater than a preset lateral distance.

[0164] Optionally, the device further comprises:

[0165] An obstacle speed module is configured to determine a driving speed of the obstacle vehicle when the current vehicle drives in the same lane following the obstacle vehicle.

[0166] A detour driving module is configured to control the current vehicle to drive along a detour trajectory to bypass the obstacle vehicle and continue driving along the current lane when the driving speed is zero.

[0167] In summary, in the embodiments of the present disclosure, the real-time positions of the current vehicle and the obstacle vehicle can be determined when the current vehicle and the obstacle vehicle are both driving in a bidirectional lane scene; the environmental information of the lane is acquired when the real-time positions of the current vehicle and the obstacle vehicle indicate that the current vehicle is following the obstacle vehicle to drive in the same lane in the bidirectional lane scene, and the lane is determined to be indoor and have a free parking space beside the lane according to the environmental information; the current vehicle is controlled to stop driving at a first boundary position of the free parking space, and the current vehicle is controlled to continue following the obstacle vehicle to drive when the obstacle vehicle drives through a second boundary position, which can avoid the parking path of the obstacle vehicle and the driving path of the current vehicle from conflicting when the current vehicle and the obstacle vehicle are driving in an indoor parking scene, avoid the current vehicle from invading the parking operation area of the obstacle vehicle, and further avoid congestion and the need for passenger intervention control, thereby improving the parking efficiency and the traffic efficiency of the vehicle in the indoor parking scene.

[0168] The embodiments of the present application also provide an electronic device, as shown in the accompanying drawings, which comprises 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 complete mutual communication through the communication bus 1004. Figure 8

[0169] The memory 1003 is used for storing a computer program.

[0170] The processor 1001 is used for executing the program stored in the memory 1003 to implement the following steps: the real-time positions of the current vehicle and the obstacle vehicle are determined respectively when the current vehicle and the obstacle vehicle are both driving in a bidirectional lane scene; the bidirectional lane scene has at least two lanes with opposite driving directions; the environmental information of the lane is acquired when the real-time positions indicate that the current vehicle is following the obstacle vehicle to drive in the same lane in the bidirectional lane scene, and the lane is determined to be indoor and have a free parking space beside the lane according to the environmental information; the current vehicle is controlled to stop driving at a first boundary position of the free parking space when the lane is indoor and the obstacle vehicle drives through the first boundary position of the free parking space to drive into a parking operation area corresponding to the free parking space; and the current vehicle is controlled to continue following the obstacle vehicle to drive when the obstacle vehicle drives through a second boundary position of the free parking space to drive out of the parking operation area.

[0171] The processor 1001 can also implement other steps in the indoor parking control method, which are not described herein.

[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 the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

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

[0174] The memory can include a Random Access Memory (RAM) and can also include a non-volatile memory, for example, at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0175] The processor mentioned above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; can also be a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0176] In another embodiment provided in the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores instructions, when the instructions run on a computer, the computer executes the indoor parking control method in the above embodiment.

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

[0178] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented by software, all or some of the steps can be implemented in the form of one or more computer programs. The computer program can be stored in any computer readable medium, and when loaded into a computer system, causes the computer system to perform one or more of the steps of the computer program. The computer readable medium can be a magnetic disk, an optical disk or a solid state drive, or any combination thereof. The computer readable medium can be distributed to computer systems connected by a network, so that the computer programs that constitute the computer programs (which can also be in the form of computer readable medium) can be stored in and executed by the network connected computer systems in a distributed manner.

[0179] It should be noted that, in the present document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "comprising", "containing" or any other variant thereof are intended to cover a non-exclusive inclusion, so that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but also other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

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

[0181] The above merely provides preferred embodiments of the application, and not for limiting the protective scope of the application. Any modification, equivalent replacement, improvement, etc. made within the principle and technical scope of the application shall fall into the protective scope of the application.

Claims

1. A method for controlling indoor parking, characterized by, The method comprises: In the case that the current vehicle and the obstacle vehicle are both driving 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; In the case that the real-time positions indicate that the current vehicle and the obstacle vehicle are driving in the same lane in the two-way lane scene, the environment information of the lane is acquired, and it is determined according to the environment information that the lane is indoor and there is a free parking space beside the lane; In the case that the lane is indoor, and the obstacle vehicle drives through a first boundary position of the free parking space to enter a parking operation area corresponding to the free parking space, the current vehicle is controlled to stop driving at the first boundary position; In the case that the obstacle vehicle drives through a second boundary position of the free parking space to drive away from the parking operation area, the current vehicle is controlled to continue driving following the obstacle vehicle; the first boundary position and the second boundary position define the range of the free parking space; In the case that the current vehicle and the obstacle vehicle are driving in different lanes in opposite directions, the lateral distance of the obstacle vehicle from a lane line at different times is acquired; the lane line is used to separate the lanes in which the current vehicle and the obstacle vehicle are driving respectively; According to the lateral distance at different times, a distance offset parameter corresponding to the obstacle vehicle is determined; the distance offset parameter represents the lateral distance offset amount per unit time; The driving time required for the current vehicle and the obstacle vehicle to reach a preset vertical distance is determined; Based on the driving 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 is determined; In the case that the predicted lateral distance is greater than a preset lateral distance, the current vehicle is controlled to continue driving along the current lane.

2. The method of claim 1, wherein, The step of controlling the current vehicle to continue driving following the obstacle vehicle comprises: The driving speed of the obstacle vehicle and a preset following distance are acquired; According to the following distance and the driving speed, an acceleration corresponding to the current vehicle is determined; Based on the acceleration, the current vehicle is controlled to drive following the obstacle vehicle to keep the distance between the current vehicle and the obstacle vehicle as the preset following distance.

3. The method of claim 1, wherein, The step of controlling the current vehicle to continue driving following the obstacle vehicle comprises: The driving direction of the obstacle vehicle is determined; the driving direction includes forward driving and reverse driving; In the case that the driving direction is reverse driving, the current vehicle is controlled to stop driving; In the case that the driving direction is forward driving, the current vehicle is controlled to drive following the obstacle vehicle.

4. The method of claim 3, wherein, The step of determining the driving direction of the obstacle vehicle comprises: The rear image of the obstacle vehicle and the real-time distance between the current vehicle and the obstacle vehicle are acquired; In the case that the color of the tail light in the rear image is a preset color and the real-time distance decreases, it is determined that the driving direction of the obstacle vehicle is reverse driving.

5. The method of claim 1, wherein, The method further comprises: In the case that the current vehicle travels at a constant speed, at a first time, a first distance between the current vehicle and the obstacle vehicle is determined; At a second time after the first time, a second distance between the current vehicle and the obstacle vehicle is determined; In the case that 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 of claim 1, wherein, The method further comprises: In the case that the current vehicle and the obstacle vehicle travel in different lanes, a second speed of the obstacle vehicle is determined according to a distance change between the current vehicle and the obstacle vehicle, and a first speed of the current vehicle; In the case that the second speed is zero, the current vehicle is controlled to continue traveling along the current lane.

7. An indoor parking control device, characterized by comprising: The device comprises: A lane vehicle module configured to determine real-time positions of the current vehicle and the obstacle vehicle respectively in the case that the current vehicle and the obstacle vehicle travel in a bidirectional lane scene; the bidirectional lane scene has at least two lanes with opposite driving directions; A parking space state module configured to acquire environment information of the lane and determine that the lane is indoor and that there is a free parking space beside the lane according to the environment information in the case that the real-time positions indicate that the current vehicle travels in the same lane as the obstacle vehicle in the bidirectional lane scene; A stop control module configured to control the current vehicle to stop traveling at a first boundary position of the free parking space in the case that the lane is indoor and that the obstacle vehicle travels through the first boundary position to enter a parking operation area corresponding to the free parking space; A following control module configured to control the current vehicle to continue following the obstacle vehicle to travel in the case that the obstacle vehicle travels through a second boundary position of the free parking space to leave the parking operation area; the first boundary position and the second boundary position define a range of the free parking space. The device further comprises: A lane distance module configured to acquire lateral distances of the obstacle vehicle from a lane line at different times in the case that the current vehicle and the obstacle vehicle travel in different lanes; the lane line is used to separate lanes in which the current vehicle and the obstacle vehicle travel respectively; A lateral offset module configured to determine a distance offset parameter of the obstacle vehicle according to the lateral distances at different times; the distance offset parameter represents a lateral distance offset amount per unit time; A preset vertical module configured to determine a travel time required for the current vehicle and the obstacle vehicle to reach a preset vertical distance; A lateral prediction module configured to determine a predicted lateral distance between the current vehicle and the obstacle vehicle in the case that the preset vertical distance is reached based on the travel time and the distance offset parameter; A lateral safety module configured to control the current vehicle to continue traveling along the current lane in the case that the predicted lateral distance is greater than a preset lateral distance.

8. An electronic device, comprising: The method comprises: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory complete the communication among each other through the communication bus; a memory for storing a computer program; a processor for executing the program stored on the memory, and realizing the steps in the indoor parking control method according to any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to realize the steps in the indoor parking control method according to any one of claims 1 to 6.

Images