Parking lot determination method, device and equipment and vehicle

Abstract

The invention provides a parking space determination method, device and equipment and a vehicle. The parking space determination method comprises the following steps: acquiring parking space information based on an environment aerial view image around the vehicle by using a preset parking space information detection model; obtaining an optimized parking space course angle based on the parking space information by using a preset course angle optimization algorithm; and determining the position of the parking space according to the optimized course angle and the parking space information. According to the parking space determining method, the position of the parking space can be comprehensively and accurately determined, the success rate of automatic parking is increased, and the collision risk of the vehicle in the automatic parking process is reduced.

Description

Technical Field

[0001] The present application relates to the field of automatic parking technology, and in particular to a method, device, equipment and vehicle for determining a parking location. Background Art

[0002] With the rapid development of autonomous driving technology, automatic parking has become an important manifestation of the level of vehicle intelligence. In the automatic parking system, accurate and rapid identification of parking spaces is one of the key steps to achieve automatic parking. Most existing automatic parking technologies rely on surround cameras around the vehicle to capture surrounding information and splice this information into a bird's eye view image (BEV). Deep learning methods are used to extract features from the bird's eye view image to identify the type and location of the parking space.

[0003] However, in actual applications, especially in complex and ever-changing urban environments, uneven roads often occur. Uneven roads can cause changes in the shooting angle of the surround view camera, which in turn affects the stitching accuracy of the bird's-eye view image of the environment. When there is a large error in the stitching of the bird's-eye view image of the environment, there will be a significant deviation between the detected coordinates and the actual coordinates of the storage location, which will not only reduce the success rate of automatic parking, but may also cause damage to the vehicle and surrounding obstacles. Summary of the invention

[0004] In view of the above, it is necessary to propose a storage location determination method, device, equipment and vehicle to solve the technical problem that when there is a large error in the splicing of the environmental bird's-eye view image, it will not only reduce the success rate of automatic parking, but may also cause damage to the vehicle and surrounding obstacles.

[0005] In a first aspect, the present application provides a method for determining a storage location, the method comprising: obtaining storage location information based on a bird's-eye view image of the environment surrounding a vehicle using a preset storage location information detection model; obtaining an optimized storage location heading angle based on the storage location information using a preset heading angle optimization algorithm; and determining the position of the storage location based on the optimized heading angle and the storage location information.

[0006] In the storage location determination method of the above embodiment, the storage location information can be accurately extracted by analyzing the bird's-eye view image of the environment through the preset storage location information detection model; the preset heading angle optimization algorithm can dynamically adapt to these environmental changes and uncertainties by analyzing various factors in the storage location information, and obtain a more accurate storage location heading angle, which can ensure that subsequent vehicles enter the storage location at the correct angle; the storage location information provides the shape, size and other attributes of the storage location itself, and the optimized storage location heading angle clarifies the direction of the storage location. The combination of the two can achieve accurate positioning of the storage location in space, which is convenient for subsequent accurate operations on the storage location, such as accurately parking a vehicle in the storage location. Based on this, the storage location determination method of the present application can comprehensively and accurately determine the location of the storage location, improve the success rate of automatic parking, and reduce the risk of collision of vehicles during automatic parking.

[0007] In some embodiments of the present application, the method of obtaining an optimized storage location heading angle based on the storage location information using a preset heading angle optimization algorithm includes: determining a reference line of the storage location heading angle based on the storage location information using the preset heading angle optimization algorithm; and obtaining the optimized storage location heading angle based on the reference line of the storage location heading angle.

[0008] In some embodiments of the present application, the environmental bird's-eye view image is formed by stitching together multiple environmental images around the vehicle acquired by a surround-view camera on the vehicle, the storage location information includes position information of a first dividing line of the storage location and position information of a second dividing line of the storage location, and the use of the preset heading angle optimization algorithm to determine the reference line of the storage location heading angle based on the storage location information includes: acquiring the position information of a stitching line in the environmental bird's-eye view image; determining whether the first dividing line intersects with the stitching line according to the position information of the first dividing line and the position information of the stitching line, and determining whether the second dividing line intersects with the stitching line according to the position information of the second dividing line and the position information of the stitching line; if the first dividing line intersects with the stitching line and the second dividing line does not intersect with the stitching line, use the second dividing line as the reference line of the storage location heading angle; if the first dividing line does not intersect with the stitching line and the second dividing line intersects with the stitching line, use the first dividing line as the reference line of the storage location heading angle.

[0009] In some embodiments of the present application, the storage location information also includes the coordinates of the first entry point of the storage location, the coordinates of the second entry point of the storage location, and the coordinates of the surround-view camera. The use of the preset heading angle optimization algorithm to determine the reference line of the storage location heading angle based on the storage location information also includes: if the first dividing line and the second dividing line both intersect with the stitching line, calculate the first distance between the first entry point and the surround-view camera according to the coordinates of the first entry point and the coordinates of the surround-view camera, and calculate the second distance between the second entry point and the surround-view camera according to the coordinates of the second entry point and the coordinates of the surround-view camera; if the first distance is less than the second distance, use the first dividing line as the reference line of the storage location heading angle; if the first distance is greater than or equal to the second distance, use the second dividing line as the reference line of the storage location heading angle.

[0010] In some embodiments of the present application, the storage location information also includes the position information of the entrance line of the storage location, and the use of the preset heading angle optimization algorithm to determine the reference line of the storage location heading angle based on the storage location information also includes: if the first dividing line, the second dividing line and the splicing line do not intersect, determine the first angle between the first dividing line and the entrance line according to the position information of the first dividing line and the position information of the entrance line, and determine the second angle between the second dividing line and the entrance line according to the position information of the second dividing line and the position information of the entrance line; if the first angle and the second angle are both smaller than the preset angle threshold, and the first angle is smaller than the second angle, use the first dividing line as the reference line of the storage location heading angle; if the first angle and the second angle are both smaller than the preset angle threshold, and the first angle is greater than or equal to the second angle, use the second dividing line as the reference line of the storage location heading angle.

[0011] In some embodiments of the present application, the use of the preset heading angle optimization algorithm to determine the reference line of the storage location heading angle based on the storage location information also includes: if the first angle is less than the preset angle threshold, and the second angle is greater than or equal to the preset angle threshold, using the first dividing line as the reference line of the storage location heading angle; if the second angle is less than the preset angle threshold, and the first angle is greater than or equal to the preset angle threshold, using the second dividing line as the reference line of the storage location heading angle.

[0012] In some embodiments of the present application, the method of determining the reference line of the storage location heading angle based on the storage location information using the preset heading angle optimization algorithm also includes: if the first angle and the second angle are both greater than or equal to the preset angle threshold, and the first distance is less than the second distance, using the first dividing line as the reference line of the storage location heading angle; if the first angle and the second angle are both greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, using the second dividing line as the reference line of the storage location heading angle.

[0013] In some embodiments of the present application, the storage location information includes the coordinates of the first entry point of the storage location, the coordinates of the second entry point of the storage location, and the length of the storage location, and determining the position of the storage location based on the optimized heading angle and the storage location information includes: calculating the coordinates of the first tail point of the storage location based on the length of the storage location, the coordinates of the first entry point, and the optimized heading angle; calculating the coordinates of the second tail point of the storage location based on the length of the storage location, the coordinates of the second entry point, and the optimized heading angle; determining the position of the storage location based on the coordinates of the first entry point, the coordinates of the second entry point, the coordinates of the first tail point, and the coordinates of the second tail point.

[0014] In the second aspect, the present application also provides a storage location determination device, which includes: an acquisition module for acquiring storage location information based on a bird's-eye view image of the environment around the vehicle using a preset storage location information detection model; an optimization module for obtaining an optimized storage location heading angle based on the storage location information using a preset heading angle optimization algorithm; and a determination module for determining the position of the storage location based on the optimized heading angle and the storage location information.

[0015] In a third aspect, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for determining a storage location described in the above embodiment.

[0016] In a fourth aspect, the present application also provides a vehicle, which includes the electronic device described in the above embodiment.

[0017] It can be understood that the storage location determination device of the second aspect, the electronic device of the third aspect and the vehicle of the fourth aspect provided above all correspond to the storage location determination method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding storage location determination method provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a schematic diagram of an application scenario of a storage location determination method provided in an embodiment of the present application.

[0019] Figure 2 It is a flowchart of a method for determining a storage location provided in an embodiment of the present application.

[0020] Figure 3 It is a schematic diagram of the structure of a storage location provided in one embodiment of the present application.

[0021] Figure 4 It is a detailed flow chart of part of the contents of step S11 in the storage location determination method provided in one embodiment of the present application.

[0022] Figure 5 It is a detailed flow chart of step S12 in the storage location determination method provided in one embodiment of the present application.

[0023] Figure 6 (1)-(2) are schematic diagrams of the application of the storage location determination method provided in an embodiment of the present application in an environment with uneven road surface.

[0024] Figure 7 (1)-(2) are schematic diagrams of the application of the storage location determination method provided in an embodiment of the present application in a scenario where the surround camera shakes.

[0025] Figure 8 It is a schematic diagram of the functional modules of a storage location determination device provided in one embodiment of the present application.

[0026] Component Symbols

[0027] Vehicle 1

[0028] Electronic devices 10

[0029] Memory 11

[0030] Processor 12

[0031] Surround View Camera 20

[0032] The first dividing line A

[0033] Second dividing line B

[0034] Entry Line C

[0035] First entry point a

[0036] Second entry point b

[0037] The first tail point c

[0038] The second last dot d

[0039] The first angle α

[0040] The second angle β

[0041] Storage location determination device 100

[0042] Acquisition module 110

[0043] Optimization module 120

[0044] Determination module 130

[0045] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0047] In the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, words such as "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" is intended to present related concepts in a specific way.

[0048] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0049] In the description of the present application, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, in the description of the present application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically limited.

[0050] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0051] See also Figure 1 , which is a schematic diagram of an application scenario of the storage location determination method provided in one embodiment of the present application.

[0052] The embodiment of the present application provides a method for determining a storage location, which can be applied to one or more electronic devices 10. The electronic device 10 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable gate array (Field-Programmable Gate Array, FPGA), a digital processor (Digital Signal Processor, DSP), an embedded device, etc.

[0053] In some embodiments of the present application, the electronic device 10 is used to obtain storage location information based on a bird's-eye view image of the environment around the vehicle 1 using a preset storage location information detection model; obtain an optimized storage location heading angle based on the storage location information using a preset heading angle optimization algorithm; and determine the position of the storage location based on the optimized heading angle and the storage location information.

[0054] In some embodiments of the present application, the electronic device 10 can be communicatively connected to a desktop computer, a notebook, a PDA, a cloud server, or other devices.

[0055] In some embodiments of the present application, the electronic device 10 can perform human-computer interaction with the user through a keyboard, a mouse, a remote control, a touch pad, or a voice control device.

[0056] In some embodiments of the present application, the electronic device 10 may also include a network device and / or a client device. The network device includes but is not limited to a single network server, a server group consisting of multiple network servers, and a cloud server consisting of a large number of hosts or network servers based on cloud computing.

[0057] In some embodiments of the present application, the network where the electronic device 10 is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0058] In some embodiments of the present application, the present application further provides a vehicle 1, which includes an electronic device 10. The electronic device 10 may be an onboard device of the vehicle 1, such as a body control module (BCM), a vehicle control unit (VCU), etc.

[0059] See also Figure 2 , which is a schematic diagram of the steps of a method for determining a storage location provided in one embodiment of the present application.

[0060] In some embodiments of the present application, the method for determining the storage location specifically includes the following steps. According to different requirements, the order of some steps in the flowchart can be changed, and some steps can be omitted.

[0061] Step S10, using a preset storage location information detection model to obtain storage location information based on a bird's-eye view image of the environment around the vehicle.

[0062] In some embodiments of the present application, the environment bird's-eye view image is formed by stitching together multiple environment images around the vehicle 1 acquired by the surround view camera 20 on the vehicle 1. The electronic device 10 is in communication connection with the surround view camera 20. The step of acquiring the environment bird's-eye view image may include: acquiring multiple environment images through multiple surround view cameras 20 around the vehicle 1; stitching together the multiple environment images to obtain the environment bird's-eye view image. The surround view camera 20 may be a fisheye lens.

[0063] Specifically, surround view cameras 20 with a field of view (FOV) of more than 180° are arranged on the front, rear, left and right sides of the vehicle 1, and the position of each surround view camera 20 relative to the vehicle 1 is calibrated in advance. The corresponding environment image is acquired through each surround view camera 20, thereby obtaining four environment images. Distortion correction is performed on each environment image. Coordinate mapping is performed on the environment image after distortion correction according to the position of the surround view camera 20; and multiple environment images after coordinate mapping are stitched to obtain the corresponding environment bird's-eye view image.

[0064] In some embodiments of the present application, Figure 3 As shown, the storage location information includes but is not limited to the storage location type (e.g., vertical storage location, inclined storage location, horizontal storage location), the location information of the first dividing line A of the storage location, the location information of the second dividing line B of the storage location, the coordinates of the first entry point a of the storage location (x1, y1), the coordinates of the second entry point b of the storage location (x2, y2), and the coordinates of the surround view camera 20 (x c ,y c ), the location information of the entrance line C of the storage location, the length L of the storage location, etc.

[0065] In some embodiments of the present application, the specific steps for obtaining a preset storage location information detection model may include: obtaining multiple historical environment bird's-eye images, and marking the required storage location information on the historical environment bird's-eye images; constructing a training data set based on the multiple historical environment bird's-eye images marked with storage location information; constructing an initial storage location information detection model (such as YOLOV7 and other models); training the initial storage location information detection model according to the training data set to obtain a preset storage location information detection model.

[0066] Step S11, using a preset heading angle optimization algorithm based on the storage location information to obtain an optimized storage location heading angle.

[0067] In some embodiments of the present application, step S11, using a preset heading angle optimization algorithm based on the storage location information to obtain an optimized storage location heading angle specifically includes: using a preset heading angle optimization algorithm to determine a reference line of the storage location heading angle based on the storage location information; and obtaining the optimized storage location heading angle based on the reference line of the storage location heading angle.

[0068] It should be noted that how to use the preset heading angle optimization algorithm to obtain the optimized heading angle of the warehouse location based on the warehouse location information will be discussed in the following Figure 4 The steps shown are described in detail and will not be repeated here to avoid repetition.

[0069] Step S12, determining the location of the storage location according to the optimized heading angle and storage location information.

[0070] In some embodiments of the present application, step S12, determining the position of the storage location based on the optimized heading angle and storage location information specifically includes: calculating the coordinates of the first tail point c of the storage location based on the length of the storage location, the coordinates of the first entry point a, and the optimized heading angle; calculating the coordinates of the second tail point d of the storage location based on the length of the storage location, the coordinates of the second entry point b, and the optimized heading angle; determining the position of the storage location based on the coordinates of the first entry point a, the coordinates of the second entry point b, the coordinates of the first tail point c, and the coordinates of the second tail point d.

[0071] It should be noted that how to determine the location of the warehouse based on the optimized heading angle and warehouse location information will be discussed in the following section. Figure 5 The steps shown are described in detail and will not be repeated here to avoid repetition.

[0072] In the storage location determination method of the above embodiment, the storage location information can be accurately extracted by analyzing the bird's-eye view image of the environment through the preset storage location information detection model; the preset heading angle optimization algorithm can dynamically adapt to these environmental changes and uncertainties by analyzing various factors in the storage location information, and obtain a more accurate storage location heading angle, which can ensure that the subsequent vehicle 1 enters the storage location at the correct angle; the storage location information provides the shape, size and other attributes of the storage location itself, and the optimized storage location heading angle clarifies the direction of the storage location. The combination of the two can achieve accurate positioning of the storage location in space, which is convenient for subsequent accurate operation of the storage location, such as accurately parking vehicle 1 in the storage location. Based on this, the storage location determination method of the present application can comprehensively and accurately determine the location of the storage location, improve the success rate of automatic parking, and reduce the collision risk of vehicle 1 during automatic parking.

[0073] See also Figure 4 , which is a detailed flowchart of step S11 in the storage location determination method provided in one embodiment of the present application.

[0074] This embodiment is a specific description of step S11 in the above embodiment, and further describes how to use the preset heading angle optimization algorithm to obtain the optimized storage location heading angle based on the storage location information. Specifically, the following steps are included:

[0075] Step S110, using a preset heading angle optimization algorithm to determine a reference line of the storage location heading angle based on the storage location information.

[0076] In some embodiments of the present application, determining the reference line of the storage location heading angle based on the storage location information using a preset heading angle optimization algorithm includes: obtaining the position information of the stitching line in the environmental bird's-eye view image; determining whether the first dividing line A intersects with the stitching line based on the position information of the first dividing line A and the position information of the stitching line, and determining whether the second dividing line B intersects with the stitching line based on the position information of the second dividing line B and the position information of the stitching line; if the first dividing line A intersects with the stitching line and the second dividing line B does not intersect with the stitching line, using the second dividing line B as the reference line for the storage location heading angle; if the first dividing line A does not intersect with the stitching line and the second dividing line B intersects with the stitching line, using the first dividing line A as the reference line for the storage location heading angle.

[0077] In some embodiments of the present application, whether the first cutting line A intersects with the stitching line can be determined by a straddling experiment. Specifically, let the two endpoints of the first cutting line A be A1 and A2, and the two endpoints of the stitching line be D1 and D2. If the first cutting line A intersects with the stitching line, it means that the first cutting line A and the stitching line straddle each other, that is, the two endpoints A1 and A2 of the first cutting line A are on both sides of the stitching line, and the two endpoints D1 and D2 of the stitching line are on both sides of the first cutting line A. If the two endpoints A1 and A2 of the first cutting line A are on both sides of the stitching line, then the vector and vector The cross product of is of opposite sign, and at the same time, the vector and vector The cross product of is also of opposite sign. Therefore, if the vector and vector The cross products of are of opposite signs, and the vectors and vector The cross product of is also of opposite signs. At this time, the first dividing line A intersects with the splicing line.

[0078] It should be noted that, similarly, the method for determining whether the second cutting line B intersects with the splicing line can refer to the above content, and in order to avoid repetition, it will not be described here.

[0079] In other embodiments, a rapid repulsion test can be used to determine whether the first cutting line A and the splicing line do not intersect. Specifically, the coordinates of the endpoint A1 of the first cutting line A are (x A1 ,y A1 ), the coordinates of A2 are (x A2 ,y A2 ), the coordinates of the endpoint D1 of the splicing line are (x D1 ,y D1 ), the coordinates of D2 are (x D2 ,y D2 ), if the first cutting line A and the splicing line do not meet any of the following first and second conditions, then the first cutting line A and the splicing line do not intersect:

[0080] The first condition: min(x A1 , x A2 )≤max(x D1 , x D2 ), and min(x D1 , x D2 )≤max(x A1 , x A2 );

[0081] Second condition: min(y A1 ,y A2 )≤max(y D1 ,y D2 ), and min(y D1 ,y D2 )≤max(y A1 ,y A2 ).

[0082] It should be noted that, similarly, the method for determining whether the second cutting line B and the splicing line do not intersect can refer to the above content, and in order to avoid repetition, it will not be repeated here.

[0083] In some embodiments of the present application, the storage location information also includes the coordinates of the first entry point a of the storage location, the coordinates of the second entry point b of the storage location, and the coordinates of the surround-view camera 20. The reference line of the storage location heading angle determined based on the storage location information using a preset heading angle optimization algorithm also includes: if the first dividing line A and the second dividing line B both intersect with the stitching line, the first distance between the first entry point a and the surround-view camera 20 is calculated according to the coordinates of the first entry point a and the coordinates of the surround-view camera 20, and the second distance between the second entry point b and the surround-view camera 20 is calculated according to the coordinates of the second entry point b and the coordinates of the surround-view camera 20; if the first distance is less than the second distance, the first dividing line A is used as the reference line of the storage location heading angle; if the first distance is greater than or equal to the second distance, the second dividing line B is used as the reference line of the storage location heading angle.

[0084] In some embodiments of the present application, the first distance is d a , the second distance is d b ,but:

[0085]

[0086] In some embodiments of the present application, the storage location information also includes the position information of the entrance line C of the storage location, and the reference line for determining the storage location heading angle based on the storage location information using a preset heading angle optimization algorithm also includes: if the first dividing line A, the second dividing line B and the splicing line do not intersect, the first angle α between the first dividing line A and the entrance line C is determined according to the position information of the first dividing line A and the position information of the entrance line C, and the second angle β between the second dividing line B and the entrance line C is determined according to the position information of the second dividing line B and the position information of the entrance line C; if the first angle α and the second angle β are both less than the preset angle threshold, and the first angle α is less than the second angle β, the first dividing line A is used as the reference line for the storage location heading angle; if the first angle α and the second angle β are both less than the preset angle threshold, and the first angle α is greater than or equal to the second angle β, the second dividing line B is used as the reference line for the storage location heading angle.

[0087] In some embodiments of the present application, the first angle α between the first cutting line A and the entrance line C can be calculated by a dot product formula. Specifically:

[0088] (1) Define the first dividing line A as a vector Define the entry line C as a vector

[0089] (2) Calculate vector and vector The dot product of (y A2 -y A1 )(y C2 -y C1 ).

[0090]

[0091] (4) Calculate the cosine value cos(α) of the first angle α using the vector dot product and the modulus:

[0092]

[0093] (5) Calculate the first angle α according to the cosine value:

[0094] α=arcos(cos(α)).

[0095] In some embodiments of the present application, the preset angle threshold may be set to 10 degrees.

[0096] In some embodiments of the present application, determining the reference line of the warehouse location heading angle based on the warehouse location information using a preset heading angle optimization algorithm also includes: if the first angle α is less than the preset angle threshold, and the second angle β is greater than or equal to the preset angle threshold, using the first dividing line A as the reference line of the warehouse location heading angle; if the second angle β is less than the preset angle threshold, and the first angle α is greater than or equal to the preset angle threshold, using the second dividing line B as the reference line of the warehouse location heading angle.

[0097] In some embodiments of the present application, determining the reference line of the storage location heading angle based on the storage location information using a preset heading angle optimization algorithm also includes: if the first angle α and the second angle β are both greater than or equal to the preset angle threshold, and the first distance is less than the second distance, using the first dividing line A as the reference line of the storage location heading angle; if the first angle α and the second angle β are both greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, using the second dividing line B as the reference line of the storage location heading angle.

[0098] Step S111, obtaining an optimized storage location heading angle based on a reference line of the storage location heading angle.

[0099] In some embodiments of the present application, the reference line is an idealized path generated based on the storage location information, which represents the trajectory that the vehicle 1 should follow so that the vehicle 1 can accurately enter the storage location.

[0100] See also Figure 5 , which is a schematic diagram of the specific steps of step S12 in the storage location determination method provided in one embodiment of the present application.

[0101] This embodiment is a specific description of step S12 in the above embodiment, and further describes how to determine the location of the storage location based on the optimized heading angle and storage location information. Specifically, it includes the following steps:

[0102] Step S120, calculating the coordinates of the first tail point of the storage location according to the length of the storage location, the coordinates of the first entry point, and the optimized heading angle.

[0103] In some embodiments of the present application, assuming that the coordinates of the first tail point c are (x3, y3), then:

[0104] x3=x2+Lcos(θ);

[0105] y3=y2+Lsin(θ).

[0106] Where L is the length of the storage location.

[0107] Step S121, calculating the coordinates of the second tail point of the storage location according to the length of the storage location, the coordinates of the second entry point, and the optimized heading angle.

[0108] In some embodiments of the present application, assuming that the coordinates of the first tail point c are (x4, y4), then:

[0109] x4=x1+Lcos(θ);

[0110] y4=y1+Lsin(θ).

[0111] Where L is the length of the storage location.

[0112] It should be noted that when the storage location type is a vertical storage location or an inclined storage location, the entrance line C of the storage location is the shorter side, and the length of the storage location is the length of the two longer sides, such as 5.4 meters. When the storage location type is a horizontal storage location, the entrance of the horizontal storage location is the longer side, and the length of the storage location is the length of the two shorter sides, such as 2.5 meters.

[0113] Step S122, determining the location of the storage location according to the coordinates of the first entry point, the coordinates of the second entry point, the coordinates of the first tail point, and the coordinates of the second tail point.

[0114] In some embodiments of the present application, after obtaining the coordinates of the first entry point a, the second entry point b, the first end point c, and the second end point d of the storage location, the position of the storage location can be accurately located.

[0115] Figure 6 This is a schematic diagram of the application of the storage location determination method provided by an embodiment of the present application in an environment with uneven road surface.

[0116] In some embodiments of the present application, in an environment with uneven road surface, such as a slope scene, due to the natural disadvantages of the stitching algorithm in the slope scene, combined with Figure 6 As shown in (1), the vertical storage location pointed by the arrow has been distorted into a trapezoidal storage location. In this case, the segmentation line with the highest confidence level detected by the traditional storage location detection method is used as the reference line for the storage location heading angle. Figure 6 The phenomenon of overlapping storage locations shown in (1) is shown in Figure 1. Figure 6 As shown in (2), after the optimization of the storage location determination method based on the present application, the problem of storage location overlap has been eliminated.

[0117] Figure 7 It is a schematic diagram of the application of the storage location determination method provided in an embodiment of the present application in a scenario where the surround-view camera 20 is shaking.

[0118] In some embodiments of the present application, in a normal flat environment, due to camera shake and other reasons, the rear view stitching may have a large error. Figure 7 As shown in (1), the vertical storage location dividing line pointed by the arrow is obviously misaligned in the left view and the rear view. In this case, according to the traditional storage location detection method, the dividing line closer to the rear view camera is selected as the reference line of the storage location heading angle, which will cause the actual detected storage location coordinates to shift to the left, and the actual parking of vehicle 1 is biased to the left. Figure 7 As shown in (2), after the optimization of the parking location determination method based on the present application, the problem of vehicle 1 being parked on the left side has been eliminated.

[0119] See also Figure 8 , is a schematic diagram of the functional modules of a storage location determination device 100 provided in one embodiment of the present application.

[0120] In this embodiment, based on the above Figure 2 The present application also provides a device for determining a location 100 for executing the above-mentioned method for determining a location. For ease of explanation, the schematic diagram of the embodiment of the device for determining a location 100 only shows the parts related to the embodiment of the present application. It can be understood by those skilled in the art that the schematic diagram does not limit the device for determining a location 100, and the device may include more or fewer parts than shown in the diagram, or combine some parts, or arrange the parts differently.

[0121] In some embodiments of the present application, the storage location determination device 100 provided in the embodiments of the present application includes an acquisition module 110 , an optimization module 120 , and a determination module 130 .

[0122] The acquisition module 110 is used to acquire the storage location information based on the bird's-eye view image of the environment around the vehicle 1 by using a preset storage location information detection model.

[0123] In some embodiments of the present application, the environment bird's-eye view image is formed by stitching together multiple environment images around the vehicle 1 acquired by the surround view camera 20 on the vehicle 1. The electronic device 10 is in communication connection with the surround view camera 20. The step of acquiring the environment bird's-eye view image may include: acquiring multiple environment images through multiple surround view cameras 20 around the vehicle 1; stitching together the multiple environment images to obtain the environment bird's-eye view image. The surround view camera 20 may be a fisheye lens.

[0124] Specifically, surround view cameras 20 with a field of view (FOV) of more than 180° are arranged on the front, rear, left and right sides of the vehicle 1, and the position of each surround view camera 20 relative to the vehicle 1 is calibrated in advance. The corresponding environment image is acquired through each surround view camera 20, thereby obtaining four environment images. Distortion correction is performed on each environment image. Coordinate mapping is performed on the environment image after distortion correction according to the position of the surround view camera 20; and multiple environment images after coordinate mapping are stitched to obtain the corresponding environment bird's-eye view image.

[0125] In some embodiments of the present application, Figure 3 As shown, the storage location information includes but is not limited to the storage location type (e.g., vertical storage location, inclined storage location, horizontal storage location), the location information of the first dividing line A of the storage location, the location information of the second dividing line B of the storage location, the coordinates of the first entry point a of the storage location (x1, y1), the coordinates of the second entry point b of the storage location (x2, y2), and the coordinates of the surround view camera 20 (x c ,y c ), the location information of the entrance line C of the storage location, the length L of the storage location, etc.

[0126] In some embodiments of the present application, the specific steps for obtaining a preset storage location information detection model may include: obtaining multiple historical environment bird's-eye images, and marking the required storage location information on the historical environment bird's-eye images; constructing a training data set based on the multiple historical environment bird's-eye images marked with storage location information; constructing an initial storage location information detection model (such as YOLOV7 and other models); training the initial storage location information detection model according to the training data set to obtain a preset storage location information detection model.

[0127] The optimization module 120 is used to obtain an optimized storage location heading angle based on the storage location information using a preset heading angle optimization algorithm.

[0128] In some embodiments of the present application, using a preset heading angle optimization algorithm based on the storage location information to obtain an optimized storage location heading angle specifically includes: using a preset heading angle optimization algorithm to determine a reference line of the storage location heading angle based on the storage location information; and obtaining the optimized storage location heading angle based on the reference line of the storage location heading angle.

[0129] In some embodiments of the present application, determining the reference line of the storage location heading angle based on the storage location information using a preset heading angle optimization algorithm includes: obtaining the position information of the stitching line in the environmental bird's-eye view image; determining whether the first dividing line A intersects with the stitching line based on the position information of the first dividing line A and the position information of the stitching line, and determining whether the second dividing line B intersects with the stitching line based on the position information of the second dividing line B and the position information of the stitching line; if the first dividing line A intersects with the stitching line and the second dividing line B does not intersect with the stitching line, using the second dividing line B as the reference line for the storage location heading angle; if the first dividing line A does not intersect with the stitching line and the second dividing line B intersects with the stitching line, using the first dividing line A as the reference line for the storage location heading angle.

[0130] In some embodiments of the present application, whether the first cutting line A intersects with the stitching line can be determined by a straddling experiment. Specifically, let the two endpoints of the first cutting line A be A1 and A2, and the two endpoints of the stitching line be D1 and D2. If the first cutting line A intersects with the stitching line, it means that the first cutting line A and the stitching line straddle each other, that is, the two endpoints A1 and A2 of the first cutting line A are on both sides of the stitching line, and the two endpoints D1 and D2 of the stitching line are on both sides of the first cutting line A. If the two endpoints A1 and A2 of the first cutting line A are on both sides of the stitching line, then the vector and vector The cross product of is of opposite sign, and at the same time, the vector and vector The cross product of is also of opposite sign. Therefore, if the vector and vector The cross products of are of opposite signs, and the vectors and vector The cross product of is also of opposite signs. At this time, the first dividing line A intersects with the splicing line.

[0131] It should be noted that, similarly, the method for determining whether the second cutting line B intersects with the splicing line can refer to the above content, and in order to avoid repetition, it will not be described here.

[0132] In other embodiments, a rapid repulsion test can be used to determine whether the first cutting line A and the splicing line do not intersect. Specifically, the coordinates of the endpoint A1 of the first cutting line A are (x A1 ,y A1 ), the coordinates of A2 are (x A2 ,y A2 ), the coordinates of the endpoint D1 of the splicing line are (x D1 ,y D1 ), the coordinates of D2 are (x D2 ,y D2 ), if the first cutting line A and the splicing line do not meet any of the following first and second conditions, then the first cutting line A and the splicing line do not intersect:

[0133] The first condition: min(x A1 , x A2 )≤max(x D1 , x D2 ), and min(x D1 , x D2 )≤max(x A1 , x A2 );

[0134] Second condition: min(y A1 ,y A2 )≤max(y D1 ,y D2 ), and min(y D1 ,y D2 )≤max(y A1 ,y A2 ).

[0135] It should be noted that, similarly, the method for determining whether the second cutting line B and the splicing line do not intersect can refer to the above content, and in order to avoid repetition, it will not be repeated here.

[0136] In some embodiments of the present application, the storage location information also includes the coordinates of the first entry point a of the storage location, the coordinates of the second entry point b of the storage location, and the coordinates of the surround-view camera 20. The reference line of the storage location heading angle determined based on the storage location information using a preset heading angle optimization algorithm also includes: if the first dividing line A and the second dividing line B both intersect with the stitching line, the first distance between the first entry point a and the surround-view camera 20 is calculated according to the coordinates of the first entry point a and the coordinates of the surround-view camera 20, and the second distance between the second entry point b and the surround-view camera 20 is calculated according to the coordinates of the second entry point b and the coordinates of the surround-view camera 20; if the first distance is less than the second distance, the first dividing line A is used as the reference line of the storage location heading angle; if the first distance is greater than or equal to the second distance, the second dividing line B is used as the reference line of the storage location heading angle.

[0137] In some embodiments of the present application, the first distance is d a , the second distance is d b ,but:

[0138]

[0139] In some embodiments of the present application, the storage location information also includes the position information of the entrance line C of the storage location, and the reference line for determining the storage location heading angle based on the storage location information using a preset heading angle optimization algorithm also includes: if the first dividing line A, the second dividing line B and the splicing line do not intersect, the first angle α between the first dividing line A and the entrance line C is determined according to the position information of the first dividing line A and the position information of the entrance line C, and the second angle β between the second dividing line B and the entrance line C is determined according to the position information of the second dividing line B and the position information of the entrance line C; if the first angle α and the second angle β are both less than the preset angle threshold, and the first angle α is less than the second angle β, the first dividing line A is used as the reference line for the storage location heading angle; if the first angle α and the second angle β are both less than the preset angle threshold, and the first angle α is greater than or equal to the second angle β, the second dividing line B is used as the reference line for the storage location heading angle.

[0140] In some embodiments of the present application, the first angle α between the first cutting line A and the entrance line C can be calculated by a dot product formula. Specifically:

[0141] (1) Define the first dividing line A as a vector Define the entry line C as a vector

[0142] (2) Calculate vector and vector The dot product of

[0143]

[0144] (4) Calculate the cosine value cos(α) of the first angle α using the vector dot product and the modulus:

[0145]

[0146] (5) Calculate the first angle α according to the cosine value:

[0147] α=arcos(cos(α)).

[0148] In some embodiments of the present application, the preset angle threshold may be set to 10 degrees.

[0149] In some embodiments of the present application, determining the reference line of the warehouse location heading angle based on the warehouse location information using a preset heading angle optimization algorithm also includes: if the first angle α is less than the preset angle threshold, and the second angle β is greater than or equal to the preset angle threshold, using the first dividing line A as the reference line of the warehouse location heading angle; if the second angle β is less than the preset angle threshold, and the first angle α is greater than or equal to the preset angle threshold, using the second dividing line B as the reference line of the warehouse location heading angle.

[0150] In some embodiments of the present application, determining the reference line of the storage location heading angle based on the storage location information using a preset heading angle optimization algorithm also includes: if the first angle α and the second angle β are both greater than or equal to the preset angle threshold, and the first distance is less than the second distance, using the first dividing line A as the reference line of the storage location heading angle; if the first angle α and the second angle β are both greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, using the second dividing line B as the reference line of the storage location heading angle.

[0151] In some embodiments of the present application, the reference line is an idealized path generated based on the storage location information, which represents the trajectory that the vehicle 1 should follow so that the vehicle 1 can accurately enter the storage location.

[0152] The determination module 130 is used to determine the location of the storage location according to the optimized heading angle and storage location information.

[0153] In some embodiments of the present application, determining the position of the storage location based on the optimized heading angle and storage location information specifically includes: calculating the coordinates of the first tail point c of the storage location based on the length of the storage location, the coordinates of the first entry point a, and the optimized heading angle; calculating the coordinates of the second tail point d of the storage location based on the length of the storage location, the coordinates of the second entry point b, and the optimized heading angle; determining the position of the storage location based on the coordinates of the first entry point a, the coordinates of the second entry point b, the coordinates of the first tail point c, and the coordinates of the second tail point d.

[0154] In some embodiments of the present application, assuming that the coordinates of the first tail point c are (x3, y3), then:

[0155] x3=x2+Lcos(θ);

[0156] y3=y2+Lsin(θ).

[0157] Where L is the length of the storage location.

[0158] In some embodiments of the present application, assuming that the coordinates of the first tail point c are (x4, y4), then:

[0159] x4=x1+Lcos(θ);

[0160] y4=y1+Lsin(θ).

[0161] Where L is the length of the storage location.

[0162] It should be noted that when the storage location type is a vertical storage location or an inclined storage location, the entrance line C of the storage location is the shorter side, and the length of the storage location is the length of the two longer sides, such as 5.4 meters. When the storage location type is a horizontal storage location, the entrance of the horizontal storage location is the longer side, and the length of the storage location is the length of the two shorter sides, such as 2.5 meters.

[0163] In some embodiments of the present application, after obtaining the coordinates of the first entry point a, the second entry point b, the first end point c, and the second end point d of the storage location, the position of the storage location can be accurately located.

[0164] In the storage location determination device 100 of the above-mentioned embodiment, the storage location information can be accurately extracted by analyzing the bird's-eye view image of the environment through the preset storage location information detection model; the preset heading angle optimization algorithm can dynamically adapt to these environmental changes and uncertainties by analyzing various factors in the storage location information, and obtain a more accurate storage location heading angle, which can ensure that the subsequent vehicle 1 enters the storage location at the correct angle; the storage location information provides the shape, size and other attributes of the storage location itself, and the optimized storage location heading angle clarifies the direction of the storage location. The combination of the two can achieve accurate positioning of the storage location in space, which is convenient for subsequent accurate operation of the storage location, such as accurately parking the vehicle 1 in the storage location. Based on this, the storage location determination device 100 of the present application can comprehensively and accurately determine the location of the storage location, improve the success rate of automatic parking, and reduce the collision risk of the vehicle 1 during the automatic parking process.

[0165] Combination Figure 1 As shown, in some embodiments of the present application, the electronic device 10 includes, but is not limited to, a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as a storage location determination program. When the computer program is executed by the processor, a storage location determination method as in the above-mentioned embodiment is implemented.

[0166] Figure 1 Only the electronic device 10 having the memory 11 and the processor 12 is shown, and those skilled in the art can understand that Figure 1 The structure shown does not constitute a limitation on the electronic device 10 , and the electronic device 10 may include fewer or more components than shown in the figure, or combine some components, or arrange the components differently.

[0167] The memory 11 in the electronic device 10 stores multiple computer-readable instructions to implement a storage location determination method, and the processor 12 can execute multiple instructions to achieve: using a preset storage location information detection model to obtain storage location information based on a bird's-eye view image of the environment around the vehicle 1; using a preset heading angle optimization algorithm based on the storage location information to obtain an optimized storage location heading angle; determining the position of the storage location based on the optimized heading angle and the storage location information.

[0168] In some embodiments of the present application, the specific implementation method of the processor 12 for the above instructions can be referred to in Figure 2 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0169] Those skilled in the art will appreciate that the schematic diagram is merely an example of the electronic device 10 and does not constitute a limitation on the electronic device 10. The electronic device 10 may be a bus-type structure or a star-type structure. The electronic device 10 may also include more or less other hardware or software than shown in the figure, or a different arrangement of components. For example, the electronic device 10 may also include input and output devices, network access devices, etc.

[0170] It should be noted that the electronic device 10 is only an example, and other existing or future electronic products that are suitable for the present application should also be included in the protection scope of the present application and included here by reference.

[0171] Among them, the memory 11 includes at least one type of computer-readable storage medium, and the computer-readable storage medium can be non-volatile or volatile. Computer-readable storage media include flash memory, mobile hard disk, multimedia card, card-type memory (such as SD memory, DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 10, such as a mobile hard disk of the electronic device 10. In other embodiments, the memory 11 can also be an external storage device of the electronic device 10, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 10. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 10, such as a code of a warehouse location determination program, etc., but also can be used to temporarily store data that has been output or is to be output.

[0172] In some embodiments, the processor 12 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 12 is the control core (Control Unit) of the electronic device 10, and uses various interfaces and lines to connect various components of the entire electronic device 10, and executes or executes programs or modules stored in the memory 11 (for example, executing a warehouse location determination program, etc.), and calls data stored in the memory 11 to execute various functions of the electronic device 10 and process data.

[0173] The processor 12 executes the operating system of the electronic device 10 and various installed applications. The processor 12 executes the application to implement the steps in each of the above-mentioned embodiments of the method for determining the storage location, for example Figure 2 Steps shown.

[0174] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 11, and executed by the processor 12 to complete the present application. One or more modules / units may be a series of computer-readable instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 10. For example, the computer program may be divided into an acquisition module 110, an optimization module 120, and a determination module 130.

[0175] The above-mentioned integrated unit implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a computer device or a network device, etc.) or a processor to execute a part of a method for determining a storage location in each embodiment of the present application.

[0176] If the module / unit integrated in the electronic device 10 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also instruct the relevant hardware devices to complete through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0177] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory and other memory, etc.

[0178] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0179] The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. Figure 1 Only one arrow is used in the figure, but it does not mean that there is only one bus or one type of bus. The bus is configured to realize the connection and communication between the memory 11 and at least one processor 12, etc.

[0180] An embodiment of the present application also provides a computer-readable storage medium (not shown), in which computer-readable storage medium is stored computer-readable instructions, and the computer-readable instructions are executed by a processor in the electronic device 10 to implement a method for determining a storage location in any of the above embodiments.

[0181] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation.

[0182] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0183] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0184] In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the specification can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A method for determining a storage location, characterized in that: The method comprises: The preset storage location information detection model is used to obtain the storage location information based on the bird's-eye view image of the environment around the vehicle; Using a preset heading angle optimization algorithm based on the storage location information, an optimized storage location heading angle is obtained; The location of the storage location is determined according to the optimized heading angle and the storage location information.

2. The method for determining a storage location according to claim 1, wherein: The method of obtaining an optimized storage location heading angle based on the storage location information by using a preset heading angle optimization algorithm includes: Determine a reference line of the storage location heading angle based on the storage location information using the preset heading angle optimization algorithm; The optimized storage location heading angle is obtained based on a reference line of the storage location heading angle.

3. The method for determining a storage location according to claim 2, wherein: The environment bird's-eye view image is formed by stitching together multiple environment images around the vehicle acquired by a surround-view camera on the vehicle, the storage location information includes position information of a first dividing line of the storage location and position information of a second dividing line of the storage location, and the reference line for determining the storage location heading angle based on the storage location information using the preset heading angle optimization algorithm includes: Acquire position information of a stitching line in the environment bird's-eye view image; Determine whether the first cutting line intersects with the stitching line according to the position information of the first cutting line and the position information of the stitching line, and determine whether the second cutting line intersects with the stitching line according to the position information of the second cutting line and the position information of the stitching line; If the first dividing line intersects the stitching line, and the second dividing line does not intersect the stitching line, the second dividing line is used as a reference line for the heading angle of the storage location; If the first dividing line does not intersect the stitching line, and the second dividing line intersects the stitching line, the first dividing line is used as a reference line for the storage location heading angle.

4. The method for determining a storage location according to claim 3, wherein: The storage location information also includes the coordinates of the first entrance point of the storage location, the coordinates of the second entrance point of the storage location, and the coordinates of the surround view camera. The reference line for determining the heading angle of the storage location based on the storage location information by using the preset heading angle optimization algorithm also includes: If both the first dividing line and the second dividing line intersect with the stitching line, a first distance between the first entry point and the surround-view camera is calculated according to the coordinates of the first entry point and the coordinates of the surround-view camera, and a second distance between the second entry point and the surround-view camera is calculated according to the coordinates of the second entry point and the coordinates of the surround-view camera; If the first distance is smaller than the second distance, the first dividing line is used as a reference line for the heading angle of the storage location; If the first distance is greater than or equal to the second distance, the second dividing line is used as a reference line for the storage location heading angle.

5. The method for determining the storage location according to claim 4, characterized in that: The storage location information also includes the location information of the entrance line of the storage location, and the reference line for determining the heading angle of the storage location based on the storage location information by using the preset heading angle optimization algorithm also includes: If the first cutting line, the second cutting line and the stitching line do not intersect, determining a first angle between the first cutting line and the entry line according to the position information of the first cutting line and the position information of the entry line, and determining a second angle between the second cutting line and the entry line according to the position information of the second cutting line and the position information of the entry line; If the first angle and the second angle are both smaller than a preset angle threshold, and the first angle is smaller than the second angle, the first dividing line is used as a reference line for the storage location heading angle; If the first angle and the second angle are both smaller than the preset angle threshold, and the first angle is greater than or equal to the second angle, the second dividing line is used as a reference line for the storage location heading angle.

6. The method for determining the storage location according to claim 5, characterized in that: The method of determining the reference line of the storage location heading angle based on the storage location information by using the preset heading angle optimization algorithm also includes: If the first angle is less than the preset angle threshold, and the second angle is greater than or equal to the preset angle threshold, the first dividing line is used as a reference line for the storage location heading angle; If the second angle is smaller than the preset angle threshold, and the first angle is greater than or equal to the preset angle threshold, the second dividing line is used as a reference line for the storage location heading angle.

7. The method for determining a storage location according to claim 5, wherein: The method of determining the reference line of the storage location heading angle based on the storage location information by using the preset heading angle optimization algorithm also includes: If the first angle and the second angle are both greater than or equal to the preset angle threshold, and the first distance is less than the second distance, the first dividing line is used as a reference line for the storage location heading angle; If the first angle and the second angle are both greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, the second dividing line is used as a reference line for the storage location heading angle.

8. The method for determining a storage location according to claim 1, wherein: The storage location information includes coordinates of a first entrance point of the storage location, coordinates of a second entrance point of the storage location, and a length of the storage location, and determining the position of the storage location according to the optimized heading angle and the storage location information includes: Calculating the coordinates of the first tail point of the storage location according to the length of the storage location, the coordinates of the first entry point, and the optimized heading angle; Calculating the coordinates of the second tail point of the storage location according to the length of the storage location, the coordinates of the second entry point, and the optimized heading angle; The location of the storage location is determined according to the coordinates of the first entry point, the coordinates of the second entry point, the coordinates of the first tail point, and the coordinates of the second tail point.

9. A storage location determination device, characterized in that: The device comprises: An acquisition module, used for acquiring storage location information based on a bird's-eye view image of the environment around the vehicle using a preset storage location information detection model; An optimization module, used for obtaining an optimized storage location heading angle based on the storage location information by using a preset heading angle optimization algorithm; A determination module is used to determine the position of the storage location according to the optimized heading angle and the storage location information.

10. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the method for determining a storage location as described in any one of claims 1 to 8 is implemented.

11. A vehicle, characterized in that: The vehicle includes the electronic device as claimed in claim 10.

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