Automatic parking method, device and equipment for temporary parking waiting

Abstract

The invention discloses a temporary parking waiting automatic parking in-place method, device and equipment, and relates to the technical field of automatic parking, and the temporary parking waiting automatic parking in-place method comprises the steps: recognizing a target parking space which meets the requirements in a target area and is occupied by other vehicles; determining a temporary parking position in the target area according to the target parking space and the surrounding environment information; and when it is monitored that an available empty parking space appears in the multiple target parking spaces, parking the parking space from the temporary parking position to the available empty parking space. By automatically detecting the parking space, parking in the parking space is automatically completed when the empty parking space appears, and the parking waiting time is shortened.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking, and in particular to a method, device and equipment for temporarily stopping and waiting for automatic parking. Background Art

[0002] As cars gradually become more popular in people's lives, a significant challenge facing society today is the mismatch between parking space supply and car ownership, which often leads to parking difficulties for drivers after arriving at their destination. In particular, parking spaces are often full in parking areas with frequent vehicle traffic.

[0003] At present, when a parking space is full, drivers will choose to wait for an empty space before parking. However, the waiting time is full of uncertainty and it may take a long time to complete parking. Therefore, how to reduce the waiting time for parking is a problem that still needs to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a method, device and equipment for automatic parking when waiting for a temporary stop, aiming to solve the technical problem of how to reduce the waiting time for parking.

[0006] To achieve the above-mentioned purpose, the present application proposes a method for automatic parking in a temporary parking waiting mode, the method comprising: identifying a target parking space in a target area that meets the requirements and is occupied by other vehicles;

[0007] Determine a temporary parking position in the target area according to the target parking space and surrounding environment information;

[0008] When it is detected that there is an available parking space among the plurality of target parking spaces, the vehicle is parked from the temporary parking position into the available parking space.

[0009] In one embodiment, the step of identifying a plurality of target parking spaces meeting the requirements in the target area includes:

[0010] Identify the target area, and take the parking space occupied by the vehicle in the identified parking space wireframe as the target parking space;

[0011] Identify the vehicles and corresponding vehicle body features in the target area by visual or ultrasonic radar to obtain target vehicles located between vehicles, between vehicles and obstacles, and between obstacles;

[0012] The position occupied by the target vehicle is taken as the target parking space.

[0013] In one embodiment, the step of determining the temporary parking position in the target area includes:

[0014] Determine a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position, and a fourth pending temporary parking position in the target area;

[0015] A temporary parking position is determined according to the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position, and the fourth pending temporary parking position.

[0016] In one embodiment, the step of determining a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position, and a fourth pending temporary parking position in the target area comprises:

[0017] Determine a first pending temporary parking position according to the target parking space and a preset circle-straight line rule model;

[0018] Determine a second pending temporary parking position according to the target parking space and a preset search model;

[0019] Determine a third pending temporary parking position according to whether it affects the vehicle exiting the target parking space;

[0020] The fourth pending temporary parking position is determined based on the distance to obstacles on both sides and whether it is located within the intersection range.

[0021] In one embodiment, the step of determining the third pending temporary parking position according to whether the vehicle exiting the target parking space is affected comprises:

[0022] Performing visual dynamic monitoring of vehicles in the target parking space through a surround-view camera;

[0023] When the vehicle exiting the target parking space is detected, the exit path of the vehicle in the target parking space is calculated;

[0024] An area outside the parking path or an area in the path from which the driver can leave by moving forward or backward is used as the third pending temporary parking position.

[0025] In one embodiment, the step of determining the fourth pending temporary parking position according to the distance between the obstacles on both sides and whether the obstacles are located within the intersection range includes:

[0026] Get the intersection location range;

[0027] Calculate the distances of obstacles on both sides respectively;

[0028] An area that is not within the intersection position range and where the distance to obstacles on at least one side is greater than the sum of the vehicle width and a preset fixed value is used as the fourth pending temporary parking position.

[0029] In one embodiment, the step of determining a temporary parking position according to the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position, and the fourth pending temporary parking position comprises:

[0030] Acquire a first pending area in the target area that satisfies the first pending temporary parking position;

[0031] Determining whether the first pending area satisfies the third pending temporary parking position;

[0032] If the first pending area satisfies the third pending temporary parking position, then determining whether the first pending area satisfies the fourth pending temporary parking position;

[0033] If the first pending area satisfies the fourth pending temporary parking position, the first pending area is used as the temporary parking position;

[0034] Acquire a second pending area outside the first pending area that satisfies the second pending temporary parking position;

[0035] Determining whether the second pending area satisfies the third pending temporary parking position;

[0036] If the second pending area satisfies the third pending temporary parking position, then determining whether the second pending area satisfies the fourth pending temporary parking position;

[0037] If the second pending area satisfies the fourth pending temporary parking position, the second pending area is used as the temporary parking position.

[0038] In one embodiment, the step of parking from the temporary parking position into the available parking space includes:

[0039] Obtaining coordinate information of the available parking space;

[0040] determining a parking mode according to the coordinate information;

[0041] Parking is performed from the temporary parking position into the available parking space according to a parking mode.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a temporary stop waiting automatic parking device, the temporary stop waiting automatic parking device comprising:

[0043] An identification module, used for identifying target parking spaces in a target area that meet the requirements and are occupied by other vehicles;

[0044] A determination module, used to determine a temporary parking position in the target area according to the target parking space and surrounding environment information;

[0045] The parking module is used for parking from the temporary parking position into the vacant parking space when detecting that there is an available parking space among the plurality of target parking spaces.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a temporary stop waiting for automatic parking, the device comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the temporary stop waiting for automatic parking method as described above.

[0047] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for temporarily stopping and waiting for automatic parking are implemented as described above.

[0048] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for temporarily stopping and waiting for automatic parking are implemented as described above.

[0049] The present application provides a method for automatic parking while waiting for temporary parking. The present application first identifies target parking spaces that meet the requirements and are occupied by other vehicles in a target area; and determines a temporary parking position in the target area based on the target parking spaces and surrounding environment information; and when it is monitored that there are vacant parking spaces among multiple target parking spaces, parks into the vacant parking spaces from the temporary parking positions.

[0050] In summary, the present application solves the technical problem of how to reduce the waiting time for parking by automatically detecting parking spaces and automatically completing parking when empty spaces appear. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0053] Figure 1 A flowchart diagram of the first embodiment of the method for temporarily stopping and waiting for automatic parking in this application;

[0054] Figure 2 This is a schematic diagram of a target parking space in the first embodiment of the method for temporarily stopping and waiting for automatic parking in this application;

[0055] Figure 3 A flowchart diagram of a second embodiment of the method for temporarily stopping and waiting for automatic parking in this application;

[0056] Figure 4 This is a moving diagram in the second embodiment of the method for temporarily stopping and waiting for automatic parking in this application;

[0057] Figure 5 This is a schematic diagram of temporary parking position determination in Embodiment 2 of the method for temporarily stopping and waiting for automatic parking in this application;

[0058] Figure 6 This is a schematic diagram of the module structure of the automatic parking device for temporary parking waiting according to an embodiment of the present application;

[0059] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the method for temporarily stopping and waiting for automatic parking in the embodiment of the present application.

[0060] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0061] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0062] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0063] The main solution of the present application is to identify target parking spaces that meet the requirements and are occupied by other vehicles in the target area; determine a temporary parking position in the target area based on the target parking spaces and surrounding environment information; and when it is monitored that there are vacant parking spaces among multiple target parking spaces, park from the temporary parking position into the vacant parking space.

[0064] At present, when a parking space is full, drivers will choose to wait for an empty space before parking. However, the waiting time is full of uncertainty and it may take a long time to complete parking. Therefore, how to reduce the waiting time for parking is a problem that still needs to be solved.

[0065] This application solves the technical problem of how to reduce the waiting time for parking by automatically detecting parking spaces and automatically completing parking when an empty space appears.

[0066] Based on this, the embodiment of the present application provides a method for temporarily stopping and waiting for automatic parking, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the method for temporarily stopping and waiting for automatic parking in this application.

[0067] In this embodiment, the method for temporarily stopping and waiting for automatic parking comprises steps S10 to S30:

[0068] Step S10: Identify target parking spaces in the target area that meet the requirements and are occupied by other vehicles;

[0069] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a car, etc. The following takes a car as an example to illustrate this embodiment and the following embodiments.

[0070] It is understandable that the target area refers to the place where the car needs to be parked, usually a parking lot; there may be empty parking spaces in the target area. In this case, the automatic parking function can be used directly to complete parking.

[0071] In a feasible manner, the step of identifying target parking spaces in the target area that meet the requirements and are occupied by other vehicles includes:

[0072] Identify the target area, and take the parking space occupied by the vehicle in the identified parking space wireframe as the target parking space;

[0073] Identify the vehicles and corresponding vehicle body features in the target area by visual or ultrasonic radar to obtain target vehicles located between vehicles, between vehicles and obstacles, and between obstacles;

[0074] The position occupied by the target vehicle is taken as the target parking space.

[0075] It is understandable that parking spaces occupied by other vehicles are divided into two categories: the first category is the parking space wireframe and the vehicle features in the parking space wireframe that are visually recognized. In this case, the wireframe parking space occupied by the vehicle in the parking space wireframe can be used as the target parking space; the second category is the parking spaces occupied by vehicles between vehicles, between vehicles and obstacles, and between obstacles through visual or ultrasonic radar recognition. The schematic diagram of the target parking space can be referred to Figure 2, the visual target parking space is the first type of target parking space, and the spatial target parking space is the second type of target parking space. After obtaining the target parking space, the target parking space information is stored in the target parking space list.

[0076] Step S20: determining a temporary parking position in the target area according to the target parking space and surrounding environment information;

[0077] It should be noted that the temporary parking position is a position for temporary parking while waiting for an empty parking space to appear in the target area, and the target parking space can be automatically parked in the temporary parking position. The surrounding environment information refers to the surrounding vehicles, the intersection range, the distance to the obstacles on both sides and other information.

[0078] Step S30: when it is detected that there is an available parking space among the plurality of target parking spaces, parking the vehicle from the temporary parking position into the available parking space.

[0079] It is understandable that the surround-view camera performs periodic visual dynamic monitoring of the vehicles in the target parking space list in the field of view. If it is detected that a vehicle in the target parking space list is about to leave the target parking space, the parking space ID and parking space coordinate signal are obtained, and the camera moves forward or backward to ensure that it will not affect the vehicle's exit.

[0080] In a feasible manner, the step of parking from the temporary parking position into the available parking space includes:

[0081] Obtaining coordinate information of the available parking space;

[0082] determining a parking mode according to the coordinate information;

[0083] Parking is performed from the temporary parking position into the available parking space according to a parking mode.

[0084] It should be noted that the parking modes include perpendicular parking in, parallel parking in, parallel parking out, perpendicular parking out, and straight in and straight out, etc. According to the location of the available parking spaces, selecting the appropriate parking mode can successfully complete the parking.

[0085] This embodiment first identifies target parking spaces that meet the requirements and are occupied by other vehicles in the target area; and determines a temporary parking position in the target area based on the target parking spaces and surrounding environment information; when it is monitored that there are vacant parking spaces among multiple target parking spaces, the vehicle is parked from the temporary parking position into the vacant parking space.

[0086] In summary, this embodiment solves the technical problem of how to reduce the waiting time for parking by automatically detecting parking spaces and automatically completing parking when an empty space appears.

[0087] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 The step of determining the temporary parking position in the target area according to the target parking space and the surrounding environment information includes steps S201 to S202:

[0088] Step S201: determining a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position, and a fourth pending temporary parking position in a target area;

[0089] It should be noted that the pending temporary parking positions refer to positions that meet certain requirements, and the final temporary parking positions can be obtained through these pending temporary parking positions.

[0090] In a feasible manner, the step of determining a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position, and a fourth pending temporary parking position in the target area includes:

[0091] Determine a first pending temporary parking position according to the target parking space and a preset circle-straight line rule model;

[0092] Determine a second pending temporary parking position according to the target parking space and a preset search model;

[0093] Determine a third pending temporary parking position according to whether it affects the vehicle exiting the target parking space;

[0094] The fourth pending temporary parking position is determined based on the distance to obstacles on both sides and whether it is located within the intersection range.

[0095] It should be noted that in the automatic parking system, the circle-line rule algorithm is a simplified path planning strategy used to guide the vehicle to travel along a predetermined circular and straight trajectory to achieve precise parking action; while the search algorithm is mainly used for path planning in automatic parking, that is, to calculate an optimal or feasible path from the starting point to the end point based on the vehicle's current position, target parking position and surrounding environment information. The circle-line rule algorithm has high restrictions on the vehicle's starting posture. The area that can be planned to the target parking space by the circle-line rule algorithm can be used as the first pending temporary parking position; the area that can be planned to the target parking space by the search algorithm can be used as the second pending temporary parking position.

[0096] It is understandable that the temporary parking position cannot affect the exit of vehicles in the target parking space, cannot be located at an intersection, and needs to at least reserve a passable space.

[0097] In a feasible manner, the step of determining the third pending temporary parking position according to whether the vehicle exiting the target parking space is affected comprises:

[0098] Performing visual dynamic monitoring of vehicles in the target parking space through a surround-view camera;

[0099] When the vehicle exiting the target parking space is detected, the exit path of the vehicle in the target parking space is calculated;

[0100] An area outside the parking path or an area in the path from which the driver can leave by moving forward or backward is used as the third pending temporary parking position.

[0101] It is understandable that visual dynamic monitoring includes but is not limited to monitoring the vibration, flashing lights, and the driver's door opening and entering actions of the target vehicle. By monitoring the above behaviors, it can be determined that a vehicle needs to exit the target parking space. In this case, it is necessary to calculate the parking path for the vehicle that is detected to need to exit the target parking space. The area outside the parking path is the third pending temporary parking position. In addition, if the position of the vehicle is on the parking path, but after autonomously moving forward and backward for a certain distance, the vehicle in the parking space can exit normally, this situation is also considered not to affect the exit of the vehicle in the target parking space, and it is also used as the third pending temporary parking position. Among them, the direction of the autonomous forward and backward movement of the vehicle is: if the distance between the front of the vehicle and the obstacle in front is greater than the distance between the rear of the vehicle and the obstacle in the rear, the vehicle moves forward; if the distance between the front of the vehicle and the obstacle in front is less than the distance between the rear of the vehicle and the obstacle in the rear, the vehicle moves forward. According to the habit of parking the rear of the vehicle first, when there are no obstacles in front and behind, the vehicle moves forward by default. The movement diagram can be referred to Figure 4 .

[0102] In a feasible manner, the step of determining the fourth pending temporary parking position according to the distance between the obstacles on both sides and whether it is located within the intersection range includes:

[0103] Get the intersection location range;

[0104] Calculate the distances of obstacles on both sides respectively;

[0105] An area that is not within the intersection position range and where the distance to obstacles on at least one side is greater than the sum of the vehicle width and a preset fixed value is used as the fourth pending temporary parking position.

[0106] It is understandable that the surrounding environment information is obtained and the temporary parking area is calculated based on the surrounding obstacles. The temporary parking position requires that the lateral distance between the vehicle and the obstacles or vehicles on both sides is greater than the sum of the vehicle width and a fixed value on at least one side. The purpose of this step is not to affect the normal passage of other vehicles.

[0107] Step S202: determining a temporary parking position according to the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position and the fourth pending temporary parking position.

[0108] It should be noted that, through the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position and the fourth pending temporary parking position, a temporary parking position that does not affect the driving of other vehicles and can be parked smoothly in the target parking space can be determined.

[0109] In a feasible manner, the step of determining a temporary parking position according to the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position and the fourth pending temporary parking position comprises:

[0110] Acquire a first pending area in the target area that satisfies the first pending temporary parking position;

[0111] Determining whether the first pending area satisfies the third pending temporary parking position;

[0112] If the first pending area satisfies the third pending temporary parking position, then determining whether the first pending area satisfies the fourth pending temporary parking position;

[0113] If the first pending area satisfies the fourth pending temporary parking position, the first pending area is used as the temporary parking position;

[0114] Acquire a second pending area outside the first pending area that satisfies the second pending temporary parking position;

[0115] Determining whether the second pending area satisfies the third pending temporary parking position;

[0116] If the second pending area satisfies the third pending temporary parking position, then determining whether the second pending area satisfies the fourth pending temporary parking position;

[0117] If the second pending area satisfies the fourth pending temporary parking position, the second pending area is used as the temporary parking position.

[0118] It is understandable that the first pending temporary parking position has higher restrictions on the vehicle starting posture, so the area that satisfies the first pending temporary parking position can be judged whether it satisfies the third pending temporary parking position. If it does, then it is judged whether it satisfies the fourth pending temporary parking position. If it still satisfies, a temporary parking position can be obtained. If it does not satisfy the third pending temporary parking position or the fourth pending temporary parking position, it is not a temporary parking position. For areas that do not satisfy the first pending temporary parking position, it is judged whether it satisfies the first pending temporary parking position. If it does, then it is judged whether it satisfies the third pending temporary parking position and the fourth pending temporary parking position. If it still satisfies, a temporary parking position is obtained. If it does not satisfy the second pending temporary parking position or the third pending temporary parking position or the fourth pending temporary parking position, it is not a temporary parking position. You can refer to Figure 5 , Figure 5 This is a schematic diagram for determining the temporary parking position.

[0119] This application also provides a temporary parking waiting automatic parking device, please refer to Figure 6 The temporary parking waiting automatic parking device comprises:

[0120] An identification module 10 is used to identify target parking spaces in a target area that meet the requirements and are occupied by other vehicles;

[0121] A determination module 20, configured to determine a temporary parking position in the target area according to the target parking space and surrounding environment information;

[0122] The parking module 30 is used for parking from the temporary parking position into the available parking space when detecting that an available parking space appears among the plurality of target parking spaces.

[0123] This embodiment first identifies target parking spaces that meet the requirements and are occupied by other vehicles in the target area; and determines a temporary parking position in the target area based on the target parking spaces and surrounding environment information; when it is monitored that there are vacant parking spaces among multiple target parking spaces, the vehicle is parked from the temporary parking position into the vacant parking space.

[0124] In summary, this embodiment solves the technical problem of how to reduce the waiting time for parking by automatically detecting parking spaces and automatically completing parking when an empty space appears.

[0125] In one embodiment, the recognition module 10 is also used to identify the target area, and use the wireframe parking space occupied by the vehicle in the identified parking space wireframe as the target parking space; identify the vehicles and corresponding body features in the target area through visual or ultrasonic radar to obtain target vehicles located between vehicles, between vehicles and obstacles, and between obstacles; and use the position occupied by the target vehicle as the target parking space.

[0126] In one embodiment, the determination module 20 is also used to determine a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position and a fourth pending temporary parking position in the target area; and determine the temporary parking position based on the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position and the fourth pending temporary parking position.

[0127] In one embodiment, the determination module 20 is also used to determine a first pending temporary parking position based on the target parking space and a preset circle-straight line rule model; determine a second pending temporary parking position based on the target parking space and a preset search model; determine a third pending temporary parking position based on whether it affects the vehicle exiting the target parking space; and determine a fourth pending temporary parking position based on the distance to obstacles on both sides and whether it is located within the intersection range.

[0128] In one embodiment, the determination module 20 is further used to perform visual dynamic monitoring of the vehicle in the target parking space through a surround-view camera; when the vehicle in the target parking space is monitored to be leaving, a parking exit path of the vehicle in the target parking space is calculated; and an area outside the parking exit path or an area in the path that can be exited by moving forward or backward is used as a third pending temporary parking position.

[0129] In one embodiment, the determination module 20 is also used to obtain the intersection position range; calculate the distances to obstacles on both sides respectively; and take an area that is not within the intersection position range and where the distance to obstacles on at least one side is greater than the sum of the vehicle width and a preset fixed value as the fourth pending temporary parking position.

[0130] In one embodiment, the determination module 20 is also used to obtain a first pending area in the target area that satisfies the first pending temporary parking position; to determine whether the first pending area satisfies the third pending temporary parking position; if the first pending area satisfies the third pending temporary parking position, then determine whether the first pending area satisfies the fourth pending temporary parking position; if the first pending area satisfies the fourth pending temporary parking position, then use the first pending area as a temporary parking position; obtain a second pending area outside the first pending area that satisfies the second pending temporary parking position; to determine whether the second pending area satisfies the third pending temporary parking position; if the second pending area satisfies the third pending temporary parking position, then determine whether the second pending area satisfies the fourth pending temporary parking position; if the second pending area satisfies the fourth pending temporary parking position, then use the second pending area as a temporary parking position.

[0131] In one embodiment, the parking module 30 is further configured to obtain coordinate information of the available parking space; determine a parking mode according to the coordinate information; and park the vehicle from the temporary parking position into the available parking space according to the parking mode.

[0132] The automatic parking device for temporary parking and waiting provided by the present application adopts the automatic parking method for temporary parking and waiting in the above embodiment, which can solve the technical problem of how to reduce the waiting time for parking. Compared with the prior art, the beneficial effects of the automatic parking device for temporary parking and waiting provided by the present application are the same as the beneficial effects of the automatic parking method for temporary parking and waiting provided by the above embodiment, and the other technical features of the automatic parking device for temporary parking and waiting are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0133] The present application provides a device for temporarily stopping and waiting for automatic parking, and the device for temporarily stopping and waiting for automatic parking includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for temporarily stopping and waiting for automatic parking in the above-mentioned embodiment 1.

[0134] Reference below Figure 7 , which shows a schematic diagram of the structure of the automatic parking device for temporary parking waiting in the embodiment of the present application. The automatic parking device for temporary parking waiting in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The temporary stop waiting automatic parking device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] like Figure 7As shown, the automatic parking device for temporary parking may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the automatic parking device for temporary parking are also stored in the RAM 1004. The processing device 1001, the ROM 1002 and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the automatic parking device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the automatic parking device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or provided alternatively.

[0136] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0137] The automatic parking device for temporary parking waiting provided by the present application adopts the automatic parking method for temporary parking waiting in the above embodiment, which can solve the technical problem of how to reduce the waiting time for parking. Compared with the prior art, the beneficial effects of the automatic parking device for temporary parking waiting provided by the present application are the same as the beneficial effects of the automatic parking method for temporary parking waiting provided by the above embodiment, and the other technical features of the automatic parking device for temporary parking waiting are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0138] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0139] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0140] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the method for automatic parking while waiting for a temporary stop in the above-mentioned embodiment.

[0141] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0142] The computer-readable storage medium may be included in the temporary stop waiting for automatic parking device; or may exist independently without being assembled into the temporary stop waiting for automatic parking device.

[0143] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the temporary parking waiting automatic parking device, the temporary parking waiting automatic parking device: identifies target parking spaces that meet the requirements and are occupied by other vehicles in the target area; determines a temporary parking position in the target area based on the target parking space and surrounding environment information; and when it is monitored that an empty parking space appears among multiple target parking spaces, parks into the empty parking space from the temporary parking position.

[0144] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0145] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0146] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0147] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for waiting for automatic parking, and can solve the technical problem of how to reduce the waiting time for parking. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the method for waiting for automatic parking provided in the above-mentioned embodiment, and will not be described in detail here.

[0148] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for temporarily stopping and waiting for automatic parking.

[0149] The computer program product provided by the present application can solve the technical problem of how to reduce the waiting time for parking. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the automatic parking method for temporary parking waiting provided by the above embodiment, which will not be described in detail here.

[0150] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for temporarily stopping and waiting for automatic parking, characterized in that: The method includes: Identify target parking spaces that meet the requirements and are occupied by other vehicles in the target area; Determine a temporary parking position in the target area according to the target parking space and surrounding environment information; When it is detected that there is an available parking space among the plurality of target parking spaces, the vehicle is parked from the temporary parking position into the available parking space.

2. The method according to claim 1, characterized in that The step of identifying a plurality of target parking spaces meeting the requirements in the target area comprises: Identify the target area, and take the parking space occupied by the vehicle in the identified parking space wireframe as the target parking space; Identify the vehicles and corresponding vehicle body features in the target area by visual or ultrasonic radar to obtain target vehicles located between vehicles, between vehicles and obstacles, and between obstacles; The position occupied by the target vehicle is taken as the target parking space.

3. The method according to claim 1, characterized in that The step of determining a temporary parking position in the target area comprises: Determine a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position, and a fourth pending temporary parking position in the target area; A temporary parking position is determined according to the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position, and the fourth pending temporary parking position.

4. The method according to claim 3, characterized in that The step of determining a first pending temporary parking position, a second pending temporary parking position, a third pending temporary parking position, and a fourth pending temporary parking position in the target area comprises: Determine a first pending temporary parking position according to the target parking space and a preset circle-straight line rule model; Determine a second pending temporary parking position according to the target parking space and a preset search model; Determine a third pending temporary parking position according to whether it affects the vehicle exiting the target parking space; The fourth pending temporary parking position is determined based on the distance to obstacles on both sides and whether it is located within the intersection range.

5. The method according to claim 4, characterized in that The step of determining the third pending temporary parking position according to whether it affects the vehicle exiting the target parking space comprises: Performing visual dynamic monitoring of vehicles in the target parking space through a surround-view camera; When the vehicle exiting the target parking space is detected, the exit path of the vehicle in the target parking space is calculated; An area outside the parking path or an area in the path from which the driver can leave by moving forward or backward is used as the third pending temporary parking position.

6. The method according to claim 4, characterized in that The step of determining the fourth pending temporary parking position according to the distance between the obstacles on both sides and whether it is located within the intersection range comprises: Get the intersection location range; Calculate the distances of obstacles on both sides respectively; An area that is not within the intersection position range and where the distance to obstacles on at least one side is greater than the sum of the vehicle width and a preset fixed value is used as the fourth pending temporary parking position.

7. The method according to claim 3, characterized in that The step of determining a temporary parking position according to the first pending temporary parking position, the second pending temporary parking position, the third pending temporary parking position and the fourth pending temporary parking position comprises: Acquire a first pending area in the target area that satisfies the first pending temporary parking position; Determining whether the first pending area satisfies the third pending temporary parking position; If the first pending area satisfies the third pending temporary parking position, then determining whether the first pending area satisfies the fourth pending temporary parking position; If the first pending area satisfies the fourth pending temporary parking position, the first pending area is used as the temporary parking position; Acquire a second pending area outside the first pending area that satisfies the second pending temporary parking position; Determining whether the second pending area satisfies the third pending temporary parking position; If the second pending area satisfies the third pending temporary parking position, then determining whether the second pending area satisfies the fourth pending temporary parking position; If the second pending area satisfies the fourth pending temporary parking position, the second pending area is used as the temporary parking position.

8. The method according to claim 1, characterized in that The step of parking from the temporary parking position into the available parking space comprises: Obtaining coordinate information of the available parking space; determining a parking mode according to the coordinate information; Parking is performed from the temporary parking position into the available parking space according to a parking mode.

9. A temporary parking waiting automatic parking device, characterized in that: The device comprises: An identification module, used for identifying target parking spaces in a target area that meet the requirements and are occupied by other vehicles; A determination module, used to determine a temporary parking position in the target area according to the target parking space and surrounding environment information; The parking module is used for parking from the temporary parking position into the vacant parking space when detecting that there is an available parking space among the plurality of target parking spaces.

10. A temporary parking waiting automatic parking device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for automatic parking while waiting for a temporary stop as claimed in any one of claims 1 to 8.

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