Parking method, device, equipment and vehicle

Abstract

The invention provides a parking method, device and equipment and a vehicle, and relates to the technical field of automobiles. The method comprises the following steps: acquiring a to-be-parked area corresponding to a target parking space and obstacle information; determining a parking position of a vehicle in the target parking space based on the to-be-parked area and the obstacle information; and after the vehicle is parked based on the parking position, the vehicle is parked in the to-be-parked area. According to the method, the accuracy, safety and comfort of automatic parking can be improved.

Description

Technical Field

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

[0002] With the development of automobile technology, more and more vehicles are using automatic parking functions.

[0003] During the automatic parking process, while considering the parking accuracy, the user's driving experience during the automatic parking process must also be taken into account. Summary of the invention

[0004] The present application provides a parking method, device, equipment and vehicle, which can ensure parking accuracy while improving the user's driving experience during the parking process.

[0005] In a first aspect, the present application provides a parking method, the method comprising:

[0006] Obtain the parking area and obstacle information corresponding to the target parking space;

[0007] Determining a parking position of the vehicle in the target parking space based on the parking area and the obstacle information;

[0008] After parking the vehicle based on the parking position, the vehicle is parked in the parking area.

[0009] Optionally, determining a parking position of the vehicle in the target parking space based on the to-be-parked area and the obstacle information includes:

[0010] Based on the obstacle information, determining whether there is a first obstacle in the area to be parked; wherein the first obstacle indicates an obstacle located in the target parking space;

[0011] If it is determined that the first obstacle exists in the area to be parked, a second obstacle adjacent to the area to be parked is determined based on the obstacle information; wherein the second obstacle indicates an obstacle on the same side as the first obstacle;

[0012] The parking position is determined based on a distance between the second obstacle and the vehicle.

[0013] Optionally, determining the parking position based on the distance between the second obstacle and the vehicle includes:

[0014] detecting a first distance between a rear wheel center of the vehicle and the first obstacle and a second distance between the vehicle and the second obstacle;

[0015] The position of the vehicle when the first distance is a first preset distance is determined as the parking position, or the position of the vehicle when the second distance is a second preset distance is determined as the parking position.

[0016] Optionally, the method further comprises:

[0017] If it is determined that the first obstacle does not exist in the parking area, determining the parking space type corresponding to the target parking space;

[0018] Determining a third obstacle adjacent to the to-be-parked area based on the obstacle information; wherein the third obstacle indicates an obstacle opposite to the vehicle;

[0019] The parking position is determined based on the parking space type and the position information of the third obstacle.

[0020] Optionally, determining the parking position based on the parking space type and the position information of the third obstacle includes:

[0021] If it is determined that the parking space type is the target type, determining whether the third obstacle overlaps with the area to be parked based on the location information of the third obstacle;

[0022] If it is determined that the third obstacle partially overlaps with the parking area, the center position of the area in the parking area excluding the area overlapping with the third obstacle is determined as the parking position, or the position in the parking area that is a third preset distance away from the third obstacle is determined as the parking position;

[0023] If it is determined that the third obstacle does not overlap with the parking area, the center position of the parking area is determined as the parking position, or the position in the parking area that is a fourth preset distance away from the third obstacle is determined as the parking position.

[0024] Optionally, determining the parking position based on the parking space type and the position information of the third obstacle includes:

[0025] If it is determined that the parking space type is not the target type, detecting a third distance between a front end of the vehicle and a boundary line of the to-be-parked area, and a fourth distance between the vehicle and the third obstacle;

[0026] The position of the vehicle when the fourth distance is the fifth preset distance is determined as the parking position, or the position of the vehicle when the fourth distance is greater than the fifth preset distance and the third distance is the sixth preset distance is determined as the parking position.

[0027] Optionally, the method further comprises:

[0028] Acquiring parking position information; wherein the parking position information indicates an empty parking space;

[0029] If it is determined based on the parking position information that the vacant parking space indicated by the parking position information meets the parking requirement, the vacant parking space indicated by the parking position information is determined as the target parking space.

[0030] In a second aspect, the present application provides a parking device, comprising:

[0031] An acquisition unit, used to acquire the parking area and obstacle information corresponding to the target parking space;

[0032] a determining unit, configured to determine a parking position of the vehicle in the target parking space based on the to-be-parked area and the obstacle information;

[0033] A parking unit is used to park the vehicle in the parking area after parking the vehicle based on the parking position.

[0034] Optionally, the determination unit is used to: determine whether there is a first obstacle in the to-be-parked area based on the obstacle information; wherein the first obstacle indicates an obstacle located in the target parking space;

[0035] If it is determined that the first obstacle exists in the area to be parked, a second obstacle adjacent to the area to be parked is determined based on the obstacle information; wherein the second obstacle indicates an obstacle on the same side as the first obstacle;

[0036] The parking position is determined based on a distance between the second obstacle and the vehicle.

[0037] Optionally, the determining unit includes a first determining module, configured to:

[0038] detecting a first distance between a rear wheel center of the vehicle and the first obstacle and a second distance between the vehicle and the second obstacle;

[0039] The position of the vehicle when the first distance is a first preset distance is determined as the parking position, or the position of the vehicle when the second distance is a second preset distance is determined as the parking position.

[0040] Optionally, the determining unit further includes a second determining module, configured to:

[0041] If it is determined that the first obstacle does not exist in the parking area, determining the parking space type corresponding to the target parking space;

[0042] Determining a third obstacle adjacent to the to-be-parked area based on the obstacle information; wherein the third obstacle indicates an obstacle opposite to the vehicle;

[0043] The parking position is determined based on the parking space type and the position information of the third obstacle.

[0044] Optionally, the second determining module is used to:

[0045] If it is determined that the parking space type is the target type, determining whether the third obstacle overlaps with the area to be parked based on the location information of the third obstacle;

[0046] If it is determined that the third obstacle partially overlaps with the parking area, the center position of the area in the parking area excluding the area overlapping with the third obstacle is determined as the parking position, or the position in the parking area that is a third preset distance away from the third obstacle is determined as the parking position;

[0047] If it is determined that the third obstacle does not overlap with the parking area, the center position of the parking area is determined as the parking position, or the position in the parking area that is a fourth preset distance away from the third obstacle is determined as the parking position.

[0048] Optionally, the second determining module is used to:

[0049] If it is determined that the parking space type is not the target type, detecting a third distance between a front end of the vehicle and a boundary line of the to-be-parked area, and a fourth distance between the vehicle and the third obstacle;

[0050] The position of the vehicle when the fourth distance is the fifth preset distance is determined as the parking position, or the position of the vehicle when the fourth distance is greater than the fifth preset distance and the third distance is the sixth preset distance is determined as the parking position.

[0051] Optionally, the device further comprises a positioning unit, configured to:

[0052] Acquiring parking position information; wherein the parking position information indicates an empty parking space;

[0053] If it is determined based on the parking position information that the vacant parking space indicated by the parking position information meets the parking requirement, the vacant parking space indicated by the parking position information is determined as the target parking space.

[0054] In a third aspect, the present application provides a computer device, comprising: a processor, and a memory communicatively connected to the processor;

[0055] The memory stores computer-executable instructions;

[0056] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspects.

[0057] In a fourth aspect, the present application provides a vehicle, wherein the vehicle comprises the computer device of the third aspect.

[0058] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any one of the methods in the first aspect.

[0059] In a sixth aspect, the present application provides a computer program product, comprising: computer execution instructions, the computer execution instructions are stored in a readable storage medium, at least one processor of a computer device can read the computer execution instructions from the readable storage medium, and the at least one processor executes the computer execution instructions, so that the computer device performs any of the methods described in the first aspect.

[0060] The parking method, device, equipment and vehicle provided by the present application, after obtaining the parking area and obstacle information corresponding to the target parking space, determine the parking position of the vehicle in the target parking space based on the parking area and obstacle information, so that the determined parking position can ensure that the vehicle and the obstacles in the target parking space, as well as the obstacles around the target parking space, maintain a safe distance, so that the vehicle is parked based on the parking position, so that after the vehicle is parked in the parking area, the vehicle maintains a safe distance from each obstacle, thereby avoiding the problem that the vehicle collides with the obstacles in the parking space during the parking process, thereby causing a sense of impact, and thus affecting the user's driving experience. At the same time, it can also avoid the problem that after the vehicle is parked, the user collides with the surrounding obstacles or is close to the surrounding obstacles when using the vehicle (for example, opening the door, opening the trunk, etc.), thereby causing certain safety hazards. This implementation method can not only improve the accuracy and safety of parking by keeping the vehicle at a safe distance from each obstacle, but also improve the user's experience during or after parking, thereby helping to promote the development and application of dynamic parking technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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.

[0062] Figure 1 A schematic diagram of a parking method provided in an embodiment of the present application;

[0063] Figure 2 A schematic diagram of a flow chart of another parking method provided in an embodiment of the present application;

[0064] Figure 3 A schematic diagram of an idle area provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of a parking position determined in a vertical parking space when a first obstacle exists in the parking area provided in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of a parking position determined in a horizontal parking space when a first obstacle exists in the parking area provided in an embodiment of the present application;

[0067] Figure 6 A schematic diagram of a parking position determined in an oblique parking space when a first obstacle exists in the parking area provided in an embodiment of the present application;

[0068] Figure 7 A schematic diagram of a parking position determined when a third obstacle provided in an embodiment of the present application overlaps with one side of the area to be parked;

[0069] Figure 8 A schematic diagram of a parking position determined when a third obstacle overlaps two sides of the parking area provided in an embodiment of the present application;

[0070] Fig. 9 A schematic diagram of a parking position determined when there is no first obstacle in the parking area provided by an embodiment of the present application, the target parking space is of the target type, and the third obstacle does not overlap with the parking area;

[0071] Fig.10 A schematic diagram of a parking position determined in a vertical parking space when there is no first obstacle in the parking area provided in an embodiment of the present application;

[0072] Fig.11 A schematic diagram of a parking position determined in an oblique parking space when there is no first obstacle in the parking area provided in an embodiment of the present application;

[0073] Fig.12 A schematic diagram of the structure of a parking device provided in an embodiment of the present application;

[0074] Fig.13 A schematic diagram of the structure of another parking device provided in an embodiment of the present application;

[0075] Fig.14 A schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0076] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0077] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0078] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0079] Automatic parking is a car assistance system that can collect parking space information through sensors in the vehicle (e.g., ultrasonic sensors, camera sensors, etc.), and automatically control the parking of the vehicle based on the collected parking space information. For example, it can automatically identify surrounding parking spaces (including vertical parking spaces, parallel parking spaces, diagonal parking spaces, etc.) through devices such as ultrasonic sensors and cameras, and after identifying a suitable parking space, automatically control the steering, throttle, brake and other components of the vehicle so that it can park accurately in the parking space.

[0080] However, since there is no uniform standard for the size of parking spaces, and the parking lot scene is relatively complex with a variety of obstacles (for example, there may be walls, pillars, other vehicles, public facilities, pedestrians and other types of obstacles around the parking spaces), generally, when parking, only the vehicle is considered to be able to avoid obstacles and then park inside the parking space.

[0081] This implementation may result in the distance between the parked vehicle and surrounding obstacles (such as walls, other vehicles, etc.) being relatively close, thus creating a certain risk of collision. At the same time, if there are obstacles in the parking space (including but not limited to limiters, limit rods, etc.), the rear wheels of the vehicle may collide with the obstacles in the parking space when the vehicle is parked, thus causing a certain impact on the user and giving the user a poor driving experience.

[0082] The parking method provided by the present application can determine the parking position of the vehicle according to the obstacles existing in the parking space and the obstacles existing around the parking space, so as to ensure that the vehicle is accurately parked in the parking space while taking into account the distance between the vehicle and each obstacle, thereby avoiding collision between the vehicle and the obstacle, thereby improving the accuracy, safety and comfort of automatic parking.

[0083] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0084] Figure 1 A flow chart of a parking method provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the method specifically comprises the following steps:

[0085] S101, obtaining the parking area and obstacle information corresponding to the target parking space.

[0086] In one example, the target parking space can be understood as a parking space that allows the vehicle to park. In this case, the target parking space can be a vertical parking space, a horizontal parking space, a diagonal parking space, etc.

[0087] In one example, the parking area corresponding to the target parking space can be understood as the area formed by the parking space boundary line of the target parking space. The obstacle information corresponding to the target parking space can indicate the position information of obstacles in the parking area and the position information of obstacles around the target parking space, wherein the obstacles can be limiters, limit rods, etc. in the parking area, and can be other vehicles, walls, pillars, etc. around the target parking space. The type and number of obstacles indicated by the obstacle information are not limited here, and are subject to what can be realized.

[0088] In one example, the camera sensor in the vehicle can collect image data containing the target parking space, and the parking space boundary line of the target parking space can be determined by performing parking space line recognition processing on the image data, thereby obtaining the parking area corresponding to the target parking space, and the position information of the obstacles in the target parking space can be determined by performing obstacle recognition processing on the image data. At this time, obstacles around the target parking space can also be detected by obstacle detection sensors in the vehicle (for example, ultrasonic sensors, radar sensors, lidar sensors, etc., and the type of sensors used for obstacle detection is not limited here, subject to what can be realized) to obtain the position information of the obstacles around the target parking space, and then obtain the obstacle information corresponding to the target parking space.

[0089] In an embodiment of the present application, after obtaining the parking area and obstacle information corresponding to the target parking space, the parking position of the vehicle can be determined based on the distance between the vehicle and various obstacles when the vehicle is in the parking area, so as to perform parking processing. For details, refer to the process described below.

[0090] S102: Determine the parking position of the vehicle in the target parking space based on the parking area and obstacle information.

[0091] In one example, after the vehicle enters the area to be parked, the parking position of the vehicle in the target parking space may be determined based on the distance between the vehicle and the position information of each obstacle indicated by the obstacle information.

[0092] In one example, when there are multiple obstacles around the target parking space, the type of obstacles and the relative position relationship between the obstacles and the vehicle in the parking area can be used to make the vehicle maintain a certain distance from at least some of the obstacles after parking, thereby preventing the vehicle from colliding with the obstacles. For example, if there is a vehicle behind the vehicle after the vehicle is parked, the vehicle can be kept at a distance of N centimeters from the obstacle behind the vehicle after parking (for example, the value of N can be 40, 35, 30, 50, etc., and the value of N is not limited here), thereby determining the parking position. For another example, if the parking area includes a stopper, the center of the rear wheel of the vehicle can be kept at a distance of M centimeters from the stopper after the vehicle is parked (for example, the value of M can be 25, 35, 15, 20, etc., and the value of M is not limited here), thereby determining the parking position, etc.

[0093] S103: After parking the vehicle based on the parking position, park the vehicle in the parking area.

[0094] In one example, after the parking position is determined, the parking trajectory of the vehicle can be automatically adjusted according to the parking position, so that the vehicle is parked in the parking area according to the parking position.

[0095] It can be seen from the above description that the embodiment of the present application can determine the parking position of the vehicle in the target parking space based on the parking area and obstacle information after obtaining the parking area and obstacle information corresponding to the target parking space, so that the determined parking position can ensure that the vehicle and the obstacles in the target parking space, as well as the obstacles around the target parking space, maintain a safe distance, so that the vehicle is parked based on the parking position, so that after the vehicle is parked in the parking area, the vehicle and each obstacle are kept at a safe distance, thereby avoiding the problem that the vehicle collides with the obstacles in the parking space during the parking process, thereby causing a sense of impact, and thus affecting the user's driving experience. At the same time, it can also avoid the problem that after the vehicle is parked, the user collides with the surrounding obstacles or is close to the surrounding obstacles when using the vehicle (for example, opening the door, opening the trunk, etc.), thereby causing certain safety hazards. This implementation method can not only improve the accuracy and safety of parking by keeping a safe distance between the vehicle and each obstacle, but also improve the user's experience during or after parking, thereby helping to promote the development and application of dynamic parking technology.

[0096] Figure 2 A flow chart of another parking method provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the method specifically comprises the following steps:

[0097] S201. Obtain parking location information.

[0098] The parking position information indicates an available parking space.

[0099] In one example, the surrounding environment information of the area where the vehicle is located can be scanned based on the sensors installed in the vehicle (including but not limited to camera sensors, ultrasonic sensors, radar sensors, etc.), so as to detect vacant parking spaces and obtain parking location information.

[0100] S202: If it is determined based on the parking position information that the vacant parking space indicated by the parking position information meets the parking requirement, the vacant parking space indicated by the parking position information is determined as the target parking space.

[0101] In one example, the vacant parking space meeting the parking requirements can be understood as the vacant area corresponding to the vacant parking space being able to keep a safe distance between the parked vehicle and obstacles. The vacant area corresponding to the vacant parking space is the area formed by the parking space boundary line of the vacant parking space and the obstacle boundary lines around the vacant parking space. Figure 3 A schematic diagram of an idle area provided in an embodiment of the present application, such as Figure 3 As shown, it is assumed that the vacant parking spaces detected by the vehicles on the lane are as follows Figure 3 As shown, the free area corresponding to the free parking space can be determined according to the boundary line on one side of the free parking space and the obstacle boundary lines on the other sides. Figure 3 As shown in the dashed box.

[0102] In one example, after determining the idle area, it is possible to determine whether the idle parking space meets the parking requirements based on the size of the idle area and the vehicle size information of the vehicle. The size of the idle area is composed of the area length and the area width, and the vehicle size information includes the vehicle length and the vehicle width, wherein the area length corresponds to the vehicle length, and the area width corresponds to the vehicle width. At this time, it is possible to determine whether the idle parking space meets the parking requirements based on the difference between the area length and the vehicle length, or it is possible to determine whether the idle parking space meets the parking requirements based on the difference between the area length and the vehicle length, and the difference between the area width and the vehicle width. For example, if it is determined that the difference between the area length corresponding to the idle area and the vehicle length is greater than a first preset value (e.g., 40 cm or 30 cm, etc.), it is determined that the idle parking space meets the parking requirements, or if it is determined that the difference between the area length corresponding to the idle area and the vehicle length is greater than a first preset value (e.g., 40 cm or 30 cm, etc.), and the difference between the area width and the vehicle width is greater than a second preset value (e.g., 40 cm or 30 cm, etc.), it is determined that the idle parking space meets the parking requirements. There is no limitation on the values ​​of the first preset value and the second preset value, and the first preset value and the second preset value may be the same or different.

[0103] At this time, if it is determined that the vacant parking space meets the parking requirements, the vacant parking space can be determined as the target parking space, and automatic parking processing can be performed based on the target parking space.

[0104] In the above implementation, based on the acquired parking position information, it can be determined whether the vacant parking space indicated by the parking position information meets the parking requirements, and if it is determined that the parking requirements are met, the parking process can be performed, thereby ensuring that the parking space for parking can meet the requirements of avoiding collisions with obstacles, thereby improving the accuracy and effectiveness of parking.

[0105] In one possible implementation, if it is determined that the vacant parking space indicated by the acquired parking position information does not meet the parking requirements, on the one hand, you can continue driving to find a vacant parking space that meets the parking requirements, and on the other hand, you can generate a prompt message that the parking space does not meet the parking requirements and display it to the user, so that the user can confirm whether manual parking is required, thereby saving parking time.

[0106] S203: Obtain the parking area and obstacle information corresponding to the target parking space.

[0107] In an example, this step can refer to the content described in S101 above, and will not be described in detail here.

[0108] S204: Determine the parking position of the vehicle in the target parking space based on the parking area and obstacle information.

[0109] During specific implementation, it may be determined whether there is a first obstacle in the parking area based on the obstacle information.

[0110] The first obstacle indicates an obstacle located in the target parking space.

[0111] Exemplarily, the first obstacle may include, but is not limited to: a limiter, a limit rod, and the like.

[0112] Next, the parking position of the vehicle in the target parking space may be determined according to whether there is a first obstacle in the parking area.

[0113] Case 1: If it is determined that there is a first obstacle in the area to be parked, a second obstacle adjacent to the area to be parked is determined based on the obstacle information, and then the parking position is determined based on the distance between the second obstacle and the vehicle.

[0114] The second obstacle indicates an obstacle on the same side as the first obstacle.

[0115] For example, if the first obstacle is a limiter located at the rear of the target parking space, then the second obstacle may be an obstacle located at the rear of the target parking space. For example, the second obstacle may include but is not limited to: a wall, a pillar, other vehicles, etc.

[0116] At this time, after determining the first obstacle and the second obstacle, the first distance between the center of the rear wheel of the vehicle and the first obstacle and the second distance between the vehicle and the second obstacle can be detected, and then, the position of the vehicle when the first distance is the first preset distance is determined as the parking position, or the position of the vehicle when the second distance is the second preset distance is determined as the parking position.

[0117] In an optional implementation, in different types of target parking spaces, the first preset distance and the second preset distance may be the same or different, which is not specifically limited here.

[0118] For example, Figures 4 to 6 A schematic diagram of a parking position determined when a first obstacle exists in the parking area provided in an embodiment of the present application.

[0119] Figure 4A schematic diagram of a parking position determined in a vertical parking space when a first obstacle exists in the parking area provided in an embodiment of the present application, as shown in FIG. Figure 4 As shown, the first distance is the distance between the center of the rear wheel of the vehicle and the boundary of the first obstacle, and the second distance is the distance between the rear of the vehicle and the second obstacle. At this time, if the first distance is the first preset distance and the second distance is greater than the second preset distance, the position of the vehicle when the first distance is the first preset distance can be determined as the parking position. If the first distance is the first preset distance and the second distance is less than or equal to the second preset distance, the position of the vehicle when the second distance is the second preset distance can be determined as the parking position.

[0120] Optionally, the first preset distance can be set to 25 cm, and the second preset distance can be set to 40 cm. There is no limitation on the values ​​of the first preset distance and the second preset distance. For example, the value of the first preset distance can be within the range of 25±10 cm, and the value of the second preset distance can be within the range of 40±10 cm.

[0121] Figure 5 A schematic diagram of a parking position determined in a horizontal parking space when a first obstacle exists in the parking area provided in an embodiment of the present application, as shown in FIG. Figure 5 As shown, the first distance is the distance between the center of the rear wheel of the vehicle and the boundary of the first obstacle, and the second distance is the distance between the rear of the vehicle and the second obstacle. At this time, if the first distance is the first preset distance and the second distance is greater than the second preset distance, the position of the vehicle when the first distance is the first preset distance can be determined as the parking position. If the first distance is the first preset distance and the second distance is less than or equal to the second preset distance, the position of the vehicle when the second distance is the second preset distance can be determined as the parking position.

[0122] Optionally, the first preset distance can be set to 25 cm, and the second preset distance can be set to 40 cm. There is no limitation on the values ​​of the first preset distance and the second preset distance. For example, the value of the first preset distance can be within the range of 25±10 cm, and the value of the second preset distance can be within the range of 40±10 cm.

[0123] Figure 6 A schematic diagram of a parking position determined in an oblique parking space when a first obstacle exists in the parking area provided in an embodiment of the present application, as shown in FIG. Figure 6As shown, the first distance is the distance between the center of the rear wheel of the vehicle and the boundary of the first obstacle, and the second distance is the distance between the rear of the vehicle and the second obstacle. At this time, if the first distance is the first preset distance and the second distance is greater than the second preset distance, the position of the vehicle when the first distance is the first preset distance can be determined as the parking position. If the first distance is the first preset distance and the second distance is less than or equal to the second preset distance, the position of the vehicle when the second distance is the second preset distance can be determined as the parking position.

[0124] Optionally, the first preset distance can be set to 25 cm, and the second preset distance can be set to 30 cm. There is no limitation on the values ​​of the first preset distance and the second preset distance. For example, the value of the first preset distance can be within the range of 25±10 cm, and the value of the second preset distance can be within the range of 30±10 cm.

[0125] This implementation manner can comprehensively consider the distance between the vehicle and the first obstacle and the distance between the vehicle and the second obstacle around the target parking space when the target parking space contains the first obstacle, so that the vehicle maintains at least the second preset distance from the first obstacle and at least the first preset distance from the second obstacle in the corresponding parking position, thereby avoiding a collision between the vehicle and the first obstacle or the second obstacle, thereby improving the user's parking experience and improving the safety of vehicle parking.

[0126] Case 2: If it is determined that there is no first obstacle in the parking area, the parking space type corresponding to the target parking space is determined, and the third obstacle adjacent to the parking area is determined based on the obstacle information. Then, the parking position is determined based on the parking space type and the location information of the third obstacle.

[0127] The third obstacle indicates an obstacle opposite to the vehicle.

[0128] For example, the third obstacle can be understood as an obstacle located at the front side of the vehicle, or an obstacle located at the rear side of the vehicle. At this time, the third obstacle may include but is not limited to: a wall, a pillar, other vehicles, etc.

[0129] In one example, the parking space type may be at least a vertical type, a horizontal type, a diagonal type, etc., wherein the vertical type may correspond to a vertical parking space, the horizontal type may correspond to a horizontal parking space, the diagonal type may correspond to a diagonal parking space, etc.

[0130] In a possible implementation, if the parking space type is determined to be a target type, then based on the location information of the third obstacle, it is determined whether the third obstacle overlaps the area to be parked. Optionally, the target type can be understood as a horizontal type.

[0131] In one example, if it is determined that the third obstacle partially overlaps with the area to be parked, the center position of the area within the area to be parked, excluding the area overlapping with the third obstacle, is determined as the parking position, or a position within the area to be parked that is a third preset distance away from the third obstacle is determined as the parking position.

[0132] In specific implementation, the distance between the vehicle at the center position of the area to be parked excluding the area overlapping with the third obstacle (i.e., the non-overlapping area in the area to be parked) and the third obstacles on both sides can be determined first. If the distance between the vehicle at the center position of the non-overlapping area and the third obstacles on both sides is greater than the third preset distance, the center position of the non-overlapping area is determined as the parking position. If the distance between the vehicle at the center position of the non-overlapping area and the third obstacle is less than or equal to the third preset distance, the position in the area to be parked with the third preset distance from the third obstacle is determined as the parking position.

[0133] Optionally, the third preset distance may be set to 35 cm. The value of the third preset distance is not limited here. For example, the value of the third preset distance may be within the range of 35±10 cm.

[0134] For example, Figures 7 and 8 A schematic diagram of a parking position determined in an embodiment of the present application when there is no first obstacle in the area to be parked, the target parking space is of a target type, and the third obstacle overlaps with the area to be parked.

[0135] Figure 7 A schematic diagram of a parking position determined when a third obstacle overlaps one side of the parking area provided in an embodiment of the present application, such as Figure 7 As shown, assuming that the third obstacle is Figure 7 If there is a first vehicle and a second vehicle shown in FIG. 1 , and the first vehicle overlaps with the parking area, then the center position of the non-overlapping area may be determined as the parking position if the distance between the vehicle at the center position of the non-overlapping area and the first vehicle is greater than the third preset distance, and the distance between the vehicle at the center position of the non-overlapping area and the second vehicle is greater than the third preset distance. Alternatively, if the distance between the vehicle at the center position of the non-overlapping area and the first vehicle (or the second vehicle) is less than or equal to the third preset distance, the position at which the distance from the first vehicle (or the second vehicle) is the third preset distance is determined as the parking position.

[0136] Figure 8 A schematic diagram of a parking position determined when a third obstacle overlaps both sides of the parking area provided in an embodiment of the present application, such as Figure 8 As shown, assuming that the third obstacle is Figure 8The first vehicle and the second vehicle are shown, and both the first vehicle and the second vehicle overlap with the parking area. Then, when the distance between the vehicle at the center position of the non-overlapping area and the first vehicle is greater than the third preset distance, and the distance between the vehicle and the second vehicle is greater than the third preset distance, the center position in the non-overlapping area can be determined as the parking position. Alternatively, when the distance between the vehicle at the center position of the non-overlapping area and the first vehicle (or the second vehicle) is less than or equal to the third preset distance, the position with the third preset distance from the first vehicle (or the second vehicle) is determined as the parking position.

[0137] In the above implementation, in a horizontal parking space scenario, the vehicle can be kept at least at a third preset distance from obstacles located at the front and rear sides of the vehicle, thereby avoiding a collision between the vehicle and the third obstacle.

[0138] In one example, if it is determined that the third obstacle does not overlap with the parking area, the center position of the parking area is determined as the parking position, or the position in the parking area that is a fourth preset distance away from the third obstacle is determined as the parking position.

[0139] For example, Fig. 9 A schematic diagram of a parking position determined when there is no first obstacle in the parking area provided in an embodiment of the present application, the target parking space is of the target type, and the third obstacle does not overlap with the parking area, as shown in FIG. Fig. 9 As shown, the third obstacle can be Fig. 9 The first vehicle and the second vehicle shown in the figure, at this time, if the distance between the vehicle at the center position of the parking area and the first vehicle is greater than the fourth preset distance, and the distance between the vehicle and the second vehicle is greater than the fourth preset distance, the center position of the parking area can be determined as the parking position. If the distance between the vehicle at the center position of the parking area and the first vehicle (or the second vehicle) is less than or equal to the fourth preset distance, the position in the parking area where the distance from the first vehicle (or the second vehicle) is the fourth preset distance can be determined as the parking position.

[0140] This implementation can still consider the distance between the vehicle and the obstacles around the target parking space after the vehicle is parked, even if there are no obstacles in the parking area corresponding to the target parking space. This can further ensure that there is no risk of the vehicle colliding with other obstacles after parking, thereby further improving the accuracy and effectiveness of the determined parking position.

[0141] In a possible implementation, if there is no third obstacle at a position adjacent to the area to be parked, the center position corresponding to the area to be parked may be determined as the parking position.

[0142] In a possible implementation, if it is determined that the parking space type is not the target type, a third distance between the front end of the vehicle and the boundary line of the parking area, and a fourth distance between the vehicle and a third obstacle are detected, and then, the position of the vehicle when the third distance is the fifth preset distance is determined as the parking position, or, the position of the vehicle when the fourth distance is the sixth preset distance is determined as the parking position.

[0143] For example, Figure 10 to Figure 11 A schematic diagram of a parking position determined in an embodiment of the present application when there is no first obstacle in the parking area and the target parking space is not of the target type.

[0144] Fig.10 A schematic diagram of a parking position determined in a vertical parking space when there is no first obstacle in the parking area provided in an embodiment of the present application, as shown in FIG. Fig.10 As shown, the third distance can be understood as the distance between the front end of the vehicle and the boundary line of the parking area on the side of the front end of the vehicle, and the fourth distance can be understood as the distance between the rear end of the vehicle and the third obstacle located on the side of the rear end of the vehicle. At this time, if the third distance is the fifth preset distance, and the fourth distance is greater than the sixth preset distance, then the position of the vehicle when the third distance is the fifth preset distance can be determined as the parking position. If the third distance is the fifth preset distance, and the fourth distance is less than or equal to the sixth preset distance, then the position of the vehicle when the fourth distance is the sixth preset distance is determined as the parking position.

[0145] Optionally, the fifth preset distance can be 10 cm, and the sixth preset distance can be 40 cm. There is no limitation on the values ​​of the fifth preset distance and the sixth preset distance. For example, the value of the fifth preset distance can be within the range of 10+0.5*the width of the parking area, and the value of the sixth preset distance can be within the range of 40±10 cm.

[0146] Fig.11 A schematic diagram of a parking position determined in an oblique parking space when there is no first obstacle in the parking area provided in an embodiment of the present application, as shown in FIG. Fig.11 As shown, the third distance can be understood as the distance between the front end of the vehicle and the boundary line of the parking area on the side of the front end of the vehicle, and the fourth distance can be understood as the distance between the rear end of the vehicle and the third obstacle located on the side of the rear end of the vehicle. At this time, if the third distance is the fifth preset distance, and the fourth distance is greater than the sixth preset distance, then the position of the vehicle when the third distance is the fifth preset distance can be determined as the parking position. If the third distance is the fifth preset distance, and the fourth distance is less than or equal to the sixth preset distance, then the position of the vehicle when the fourth distance is the sixth preset distance is determined as the parking position.

[0147] Optionally, the fifth preset distance can be 10 cm, and the sixth preset distance can be 30 cm. There is no limitation on the values ​​of the fifth preset distance and the sixth preset distance. For example, the value of the fifth preset distance can be within the range of 10+0.5*the width of the parking area, and the value of the sixth preset distance can be within the range of 30±10 cm.

[0148] At this time, different sixth preset distances are set under different parking space types, so that the determined parking position can be more accurate.

[0149] In the above embodiment, when the first obstacle is not included in the parking area, the positional relationship between the vehicle and the third obstacle can be considered, so that while ensuring a safe distance from the third obstacle (that is, the sixth preset distance), the vehicle can further maintain a sufficient safety distance from the third obstacle by determining the fifth preset distance, thereby avoiding the problem of the third obstacle being too close to the current vehicle after changes, thereby further improving the accuracy of the determined parking position.

[0150] S205: After parking the vehicle based on the parking position, park the vehicle in the parking area.

[0151] From the above description, it can be seen that the embodiments of the present application can set different safety distances required to be maintained between vehicles and obstacles according to different parking space types, and then determine the parking position, so that the determined parking position can not only avoid collision with obstacles in the current parking scenario, thereby improving the safety and comfort of parking, but also can further increase the distance between the vehicle and the obstacle while maintaining a safe distance between the vehicle and the obstacle, thereby preventing the obstacle (for example, a vehicle) from colliding with the current vehicle when an update occurs, thereby improving the accuracy and effectiveness of parking.

[0152] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0153] Fig.12 A schematic diagram of the structure of a parking device provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the parking device 1200 includes:

[0154] The acquisition unit 1201 is used to acquire the parking area and obstacle information corresponding to the target parking space.

[0155] The determination unit 1202 is used to determine the parking position of the vehicle in the target parking space based on the parking area and obstacle information.

[0156] The parking unit 1203 is used to park the vehicle in the parking area after parking the vehicle based on the parking position.

[0157] Fig.13 A schematic diagram of the structure of another parking device provided in an embodiment of the present application is shown in FIG. Fig.13 As shown, the parking device 1300 includes:

[0158] The acquisition unit 1301 is used to acquire the parking area and obstacle information corresponding to the target parking space.

[0159] The determination unit 1302 is used to determine the parking position of the vehicle in the target parking space based on the parking area and obstacle information.

[0160] The parking unit 1303 is used to park the vehicle in the parking area after parking the vehicle based on the parking position.

[0161] Optionally, the determining unit 1302 is used to: determine whether there is a first obstacle in the parking area based on the obstacle information; wherein the first obstacle indicates an obstacle located in the target parking space;

[0162] If it is determined that there is a first obstacle in the area to be parked, a second obstacle adjacent to the area to be parked is determined based on the obstacle information; wherein the second obstacle indicates an obstacle on the same side as the first obstacle;

[0163] A parking position is determined based on a distance between the second obstacle and the vehicle.

[0164] Optionally, the determining unit 1302 includes a first determining module 13021, configured to:

[0165] detecting a first distance between a rear wheel center of the vehicle and a first obstacle and a second distance between the vehicle and a second obstacle;

[0166] The position of the vehicle when the first distance is the first preset distance is determined as the parking position, or the position of the vehicle when the second distance is the second preset distance is determined as the parking position.

[0167] Optionally, the determining unit 1302 further includes a second determining module 13022, configured to:

[0168] If it is determined that there is no first obstacle in the parking area, determining the parking space type corresponding to the target parking space;

[0169] Determining a third obstacle adjacent to the area to be parked based on the obstacle information; wherein the third obstacle indicates an obstacle opposite to the vehicle;

[0170] The parking position is determined based on the parking space type and the position information of the third obstacle.

[0171] Optionally, the second determining module 13022 is used to:

[0172] If the parking space type is determined to be the target type, determining whether the third obstacle overlaps the parking area based on the location information of the third obstacle;

[0173] If it is determined that the third obstacle partially overlaps with the parking area, the center position of the area in the parking area excluding the area overlapping with the third obstacle is determined as the parking position, or the position in the parking area that is a third preset distance away from the third obstacle is determined as the parking position;

[0174] If it is determined that the third obstacle does not overlap with the parking area, the center position of the parking area is determined as the parking position, or the position in the parking area that is a fourth preset distance away from the third obstacle is determined as the parking position.

[0175] Optionally, the second determining module 13022 is used to:

[0176] If it is determined that the parking space type is not the target type, detecting a third distance between a front end of the vehicle and a boundary line of the parking area, and a fourth distance between the vehicle and a third obstacle;

[0177] The position of the vehicle when the fourth distance is the fifth preset distance is determined as the parking position, or the position of the vehicle when the fourth distance is greater than the fifth preset distance and the third distance is the sixth preset distance is determined as the parking position.

[0178] Optionally, the device further includes a positioning unit 1304, configured to:

[0179] Acquire parking location information; wherein the parking location information indicates an available parking space;

[0180] If it is determined based on the parking position information that the vacant parking space indicated by the parking position information meets the parking requirement, the vacant parking space indicated by the parking position information is determined as the target parking space.

[0181] Fig.14 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the computer device 1400 includes: a memory 1401 and a processor 1402 .

[0182] Memory 1401 is a memory used to store computer-executable instructions in processor 1402 .

[0183] The processor 1402 is configured to execute the method provided in the above embodiment.

[0184] The computer device further includes a receiver 1403 and a transmitter 1404. The receiver 1403 is used to receive instructions and data sent by an external device, and the transmitter 1404 is used to send instructions and data to the external device.

[0185] The present application also provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps of the parking method in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0186] The embodiment of the present application also provides a computer program product, which carries computer executable instructions. The instructions included in the computer executable instructions can be used to execute the steps of the parking method in the above method embodiment. For details, please refer to the above method embodiment, which will not be repeated here.

[0187] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0188] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0189] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0190] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0191] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not otherwise specified, the processor may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0192] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0193] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0194] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0195] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A parking method, characterized in that: The method comprises: Obtain the parking area and obstacle information corresponding to the target parking space; Determining a parking position of the vehicle in the target parking space based on the parking area and the obstacle information; After parking the vehicle based on the parking position, the vehicle is parked in the parking area.

2. The method according to claim 1, characterized in that Determining a parking position of the vehicle in the target parking space based on the parking area and the obstacle information includes: Based on the obstacle information, determining whether there is a first obstacle in the area to be parked; wherein the first obstacle indicates an obstacle located in the target parking space; If it is determined that the first obstacle exists in the area to be parked, a second obstacle adjacent to the area to be parked is determined based on the obstacle information; wherein the second obstacle indicates an obstacle on the same side as the first obstacle; The parking position is determined based on a distance between the second obstacle and the vehicle.

3. The method according to claim 2, characterized in that Determining the parking position based on the distance between the second obstacle and the vehicle includes: detecting a first distance between a rear wheel center of the vehicle and the first obstacle and a second distance between the vehicle and the second obstacle; The position of the vehicle when the first distance is a first preset distance is determined as the parking position, or the position of the vehicle when the second distance is a second preset distance is determined as the parking position.

4. The method according to claim 2, characterized in that: The method further comprises: If it is determined that the first obstacle does not exist in the parking area, determining the parking space type corresponding to the target parking space; Determining a third obstacle adjacent to the to-be-parked area based on the obstacle information; wherein the third obstacle indicates an obstacle opposite to the vehicle; The parking position is determined based on the parking space type and the position information of the third obstacle.

5. The method according to claim 4, characterized in that Determining the parking position based on the parking space type and the position information of the third obstacle includes: If it is determined that the parking space type is the target type, determining whether the third obstacle overlaps with the area to be parked based on the location information of the third obstacle; If it is determined that the third obstacle partially overlaps with the parking area, the center position of the area in the parking area excluding the area overlapping with the third obstacle is determined as the parking position, or the position in the parking area that is a third preset distance away from the third obstacle is determined as the parking position; If it is determined that the third obstacle does not overlap with the parking area, the center position of the parking area is determined as the parking position, or the position in the parking area that is a fourth preset distance away from the third obstacle is determined as the parking position.

6. The method according to claim 4, characterized in that Determining the parking position based on the parking space type and the position information of the third obstacle includes: If it is determined that the parking space type is not the target type, detecting a third distance between a front end of the vehicle and a boundary line of the to-be-parked area, and a fourth distance between the vehicle and the third obstacle; The position of the vehicle when the fourth distance is the fifth preset distance is determined as the parking position, or the position of the vehicle when the fourth distance is greater than the fifth preset distance and the third distance is the sixth preset distance is determined as the parking position.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Acquiring parking position information; wherein the parking position information indicates an empty parking space; If it is determined based on the parking position information that the vacant parking space indicated by the parking position information meets the parking requirement, the vacant parking space indicated by the parking position information is determined as the target parking space.

8. A parking device, characterized in that: include: An acquisition unit, used to acquire the parking area and obstacle information corresponding to the target parking space; a determining unit, configured to determine a parking position of the vehicle in the target parking space based on the to-be-parked area and the obstacle information; A parking unit is used to park the vehicle in the parking area after parking the vehicle based on the parking position.

9. A computer device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the parking method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises a computer device as claimed in claim 9.

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