Block parking space parking control method, device, equipment and storage medium

Abstract

This application discloses a method, apparatus, device, and storage medium for controlling parking in a block parking space. The method relates to the field of parking control technology and includes: obtaining a bird's-eye view of the parking spaces and vehicle size information; determining block parking space center point information and block parking space marker information based on the parking space bird's-eye view; determining parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marker information; and controlling the vehicle to park in the corresponding block parking space based on the parking frame information and the parking space type information. This solution can perform parking control based on block parking spaces of different sizes.

Description

Technical Field

[0001] The present application relates to the field of parking control technology, and in particular to a method, device, equipment, and storage medium for controlling parking in block parking spaces. Background Art

[0002] With the rapid development of autonomous driving technology, automated parking has become a crucial component of smart cars. This not only improves driving convenience and safety but also effectively utilizes limited urban space. In actual parking control, in addition to the common rectangular parking spaces, unconventional spaces such as block-shaped spaces also exist.

[0003] Existing solutions generally rely on pure vision or a fusion of vision and radar for parking space detection and parking. For conventional linear parking spaces (where the rectangular frame is larger than the vehicle itself), neural network-based corner point detection works well. However, for unconventional block parking spaces, existing parking space detection and parking control methods are not adequate for identifying and parking in these spaces. Because the characteristics of block parking spaces differ from those of conventional spaces, and their frame size is not strictly larger than the vehicle itself, special processing is required in both parking space detection and parking control to accommodate block parking spaces. How to implement parking control for block parking spaces of varying sizes remains an unresolved issue.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a method, device, equipment and storage medium for controlling parking entry into block parking spaces, aiming to solve the technical problem of how to perform parking entry control based on block parking spaces of different sizes.

[0006] To achieve the above objectives, the present application proposes a method for controlling parking in block parking spaces, the method comprising:

[0007] Get a bird's-eye view of parking spaces and your vehicle's dimensions;

[0008] Determining block parking space center point information and block parking space marking point information based on the parking space bird's-eye view;

[0009] Determining parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information;

[0010] The vehicle is controlled to park in a corresponding block parking space according to the parking frame information and the parking space type information.

[0011] In one embodiment, the step of determining the parking frame information and the parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information includes:

[0012] Determine block parking space corner point information based on the block parking space mark point information;

[0013] Determining parking frame information based on the vehicle size information, the block parking space center point information, and the block parking space corner point information;

[0014] Parking space type information is determined based on the block parking space marking point information.

[0015] In one embodiment, the step of determining the block parking space corner point information based on the block parking space marking point information includes:

[0016] When it is detected that the first corner point and the second corner point exist in the block parking space mark point information, and the third corner point and the fourth corner point do not exist, acquiring the block parking space depth information according to the parking space bird's-eye view;

[0017] Determine the third corner point and the fourth corner point based on the first corner point, the second corner point, and the block parking space depth information;

[0018] The first corner point, the second corner point, the third corner point and the fourth corner point are used as block parking space corner point information.

[0019] In one embodiment, the step of determining the third corner point and the fourth corner point based on the first corner point, the second corner point, and the block parking space depth information includes:

[0020] Obtain a unit vector from the first corner point to the second corner point;

[0021] Determine a third corner point based on the rotation matrix, the unit vector, the second corner point, and the block parking space depth information;

[0022] A fourth corner point is determined based on the rotation matrix, the unit vector, the first corner point, and the block parking space depth information.

[0023] In one embodiment, the step of determining parking space type information based on the block parking space marking point information includes:

[0024] Obtaining block parking space width information and block parking space depth information according to the parking space bird's-eye view;

[0025] Determine entrance line information based on the block parking space marking point information;

[0026] Parking space type information is determined according to the block parking space width information, the block parking space depth information, and the entrance line information.

[0027] In one embodiment, the step of obtaining a bird's-eye view of the parking space includes:

[0028] Get the fisheye image of parking spaces;

[0029] Dedistortion processing is performed on the parking space fisheye image, and surround mapping is performed on the dedistorted parking space fisheye image to obtain a bird's-eye view of the parking space.

[0030] In one embodiment, the step of controlling the vehicle to park in a corresponding block parking space according to the parking frame information and the parking space type information includes:

[0031] determining a parking path according to the parking frame information and the parking space type information;

[0032] When it is detected that there is no collision risk in the parking path, the vehicle is controlled to park in the corresponding block parking space according to the parking path.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a parking control device for a block parking space, the parking control device for a block parking space comprising:

[0034] Information acquisition module, used to obtain the bird's-eye view of parking spaces and vehicle size information;

[0035] A block parking space determination module, configured to determine block parking space center point information and block parking space marking point information based on the parking space bird's-eye view;

[0036] a parking frame determination module, configured to determine parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information;

[0037] The parking control module is used to control the vehicle to park in the corresponding block parking space according to the parking frame information and the parking space type information.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a block parking space parking control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the block parking space parking control method described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the steps of the block parking space parking control method described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the block parking space parking control method as described above.

[0041] One or more technical solutions proposed in this application have at least the following technical effects:

[0042] The system obtains a bird's-eye view of parking spaces and vehicle size information, determines block parking space center point information and block parking space marker information based on the bird's-eye view, determines parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marker information, and controls the vehicle to park in the corresponding block parking space based on the parking frame information and the parking space type information. By determining the block parking space marker information based on the bird's-eye view of parking spaces, scaling the marked parking space outer frame based on the vehicle size information and the block parking space marker information, and outputting the scaled parking frame information and parking space type information, the system meets the requirements for vehicle parking path planning and solves the problem of searching for and parking in block parking spaces of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 A flowchart of the first embodiment of the method for controlling parking in a block parking space of the present application is provided;

[0046] Figure 2 A schematic diagram of a conventional parking space provided in Example 1 of the method for controlling parking in a block parking space of the present application;

[0047] Figure 3 A schematic diagram of a block parking space provided in Example 1 of the block parking space entry control method of this application;

[0048] Figure 4 A schematic diagram of corner point reasoning provided in Example 1 of the block parking space entry control method of this application;

[0049] Figure 5 A block parking space detection result diagram provided in Example 1 of the block parking space control method of this application;

[0050] Figure 6 A flowchart of the second embodiment of the method for controlling parking in block parking spaces of the present application is provided;

[0051] Figure 7 A schematic diagram of a simplified flow chart of a method for controlling parking in block parking spaces provided in Example 2 of the present application;

[0052] Figure 8 This is a schematic diagram of the module structure of the block parking space parking control device according to an embodiment of the present application;

[0053] Figure 9 Schematic diagram of the device structure of the hardware operating environment involved in the block parking space parking control method in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present application is: obtaining a bird's-eye view of the parking space and the size information of the own vehicle; determining the block parking space center point information and the block parking space marking point information based on the parking space bird's-eye view; determining the parking frame information and the parking space type information based on at least one of the own vehicle size information, the block parking space center point information and the block parking space marking point information; and controlling the own vehicle to park in the corresponding block parking space according to the parking frame information and the parking space type information.

[0058] In this embodiment, for ease of description, the following description is made with identification of the vehicle-mounted terminal as the execution subject.

[0059] Existing parking space detection and parking methods are generally based on pure vision or a fusion of vision and radar. For conventional linear parking spaces (where the rectangular frame is larger than the vehicle), neural network-based corner point detection works well. However, for irregular block parking spaces, existing parking space detection and parking control methods are not adequate for such spaces. Because the characteristics of block parking spaces differ from those of regular spaces, and their frame size is not strictly larger than the vehicle size, special processing is required in both parking space detection and parking control to accommodate these spaces.

[0060] This application provides a solution, which determines the block parking space marking point information based on the bird's-eye view of the parking space, scales the marked parking space frame based on the vehicle size information and the block parking space marking point information, and outputs the scaled parking frame information and parking space type information to meet the parking path planning requirements of the vehicle and solve the problem of searching and parking in block parking spaces of different sizes.

[0061] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device or vehicle-mounted terminal capable of implementing the above functions. The following uses a vehicle-mounted terminal as an example to illustrate this embodiment and the following embodiments.

[0062] Based on this, the embodiment of the present application provides a method for controlling parking in a block parking space, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the block parking space entry control method of the present application.

[0063] In this embodiment, the block parking space entry control method includes steps S10 to S40:

[0064] Step S10, obtaining a bird's-eye view of the parking space and vehicle size information;

[0065] It should be noted that the existing parking space detection and parking methods based on pure vision or vision and radar fusion, for conventional linear parking spaces, please refer to Figure 2 , Figure 2 The conventional parking space diagram provided in the first embodiment of the parking control method for block parking spaces of this application is a good result in the corner point detection method based on neural network in parking space recognition. For non-conventional block parking spaces, please refer to Figure 3 , Figure 3 This is a schematic diagram of a block parking space, as shown in Example 1 of the parking control method for block parking spaces of this application. Existing parking space detection and parking methods are not well suited for identifying and parking in such spaces. Because block parking spaces differ from conventional spaces and their dimensions are not strictly larger than the vehicle's own dimensions, special processing is required in both parking space detection and parking control to ensure proper parking in such spaces. This application's solution addresses this scenario by proposing detection and parking control methods for block parking spaces of varying sizes.

[0066] Furthermore, it's important to note that when searching for a parking space to control the vehicle's entry, the camera captures imagery surrounding the vehicle, and a parking space detection result is determined based on this captured imagery. When a parking space is detected in the captured images, the surrounding images are stitched together to create a bird's-eye view of the parking space. This bird's-eye view provides a global view of the parking space blocks, including information such as their location, shape, and size.

[0067] It should be understood that, considering that most parking spaces are smaller than the vehicle, it is necessary to obtain the vehicle's size information to infer a reasonable parking frame based on the vehicle's size and the parking space information. The vehicle's size information includes the vehicle's length and width.

[0068] In a feasible implementation, step S10 may include: obtaining a fisheye image of a parking space; performing dedistortion processing on the fisheye image of the parking space, and performing surround mapping on the dedistorted fisheye image of the parking space to obtain a bird's-eye view of the parking space.

[0069] It should be noted that the four fisheye images (i.e., the parking space fisheye images) captured by the camera can be stitched together to obtain a bird's-eye view of the parking space. Considering the distortion effect of the fisheye image, the collected parking space fisheye image needs to be distorted to eliminate the extreme bending effect caused by the lens. After obtaining the dedistorted parking space fisheye image, the dedistorted parking space fisheye image can be registered through feature point matching or optical flow method to align them in the same coordinate system, and the registered images can be fused together using weighted average or maximum stitching method to generate a complete ring view. The stitched ring view is then perspective transformed and mapped to a bird's-eye view to obtain a bird's-eye view of the parking space.

[0070] For example, four pictures taken by fisheye cameras can be processed by Around View Monitor (AVM), dedistorted and then stitched together to obtain a bird's-eye view (FisheyeBEV), and the generated AVM stitched bird's-eye view is the parking space bird's-eye view.

[0071] Step S20, determining block parking space center point information and block parking space marking point information based on the parking space bird's-eye view;

[0072] It should be understood that after obtaining a bird's-eye view of parking spaces, an image processing algorithm can be used to extract the geometric features of the parking block based on the parking space bird's-eye view, thereby obtaining the center point information and marker point information of the parking block. The center point information of the parking block is the coordinate information of the center position of the detected parking block, and the marker point information of the parking block is the coordinate information of the corner points of the detected parking block. Generally, a parking block is considered to be a parallelogram, represented by the coordinates of the four vertices (i.e., the coordinates of the corner points).

[0073] For example, a YOLO10-based landmark detector, pre-trained on a parking space dataset, can be used to input a bird's-eye view image of parking spaces into the image. The landmark detector will identify the block parking spaces in the image, mark the location and boundaries of each parking space, and extract key point information for the block parking spaces, such as the block parking space center point information and the block parking space corner point information. After inputting the parking space bird's-eye view image into the YOLO10-based landmark detector, the block parking space marker box and the block parking space center point information are obtained. In actual parking scenarios, the four corner points of the block parking space box may not be identified in the parking space bird's-eye view image. In this case, the detected corner point information of the block parking space, i.e., the block parking space landmark point information, is output.

[0074] Step S30, determining parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information;

[0075] It should be noted that in actual parking scenarios, not every corner point of a parking block can be detected during a parking space search. If all four corner points of a parking block are not detected, deep prior inference is performed based on the detected corner points (i.e., the marked points) to obtain the corner points of the non-marked points of the parking block, thereby generating the marked frame of the parking block. Considering that most parking blocks are smaller than the vehicle itself, the inferred marked frame is enlarged by combining the vehicle's size information and the center point information of the parking block to obtain a parking frame suitable for the vehicle's parking needs. This then determines the parking frame information and parking space type. The parking frame information must include the parking frame size and parking frame location information. Parking space types include perpendicular parking spaces and parallel parking spaces.

[0076] In a feasible implementation, step S30 may include steps S31 to S33:

[0077] Step S31, determining block parking space corner point information based on the block parking space mark point information;

[0078] It should be understood that the block parking space corner point information visible in the parking space bird's-eye view can be directly obtained based on the block parking space marking point information. For the case where the block parking space corner point information is not fully visible, the non-marked point information (i.e. the block parking space corner points that are invisible in the parking space bird's-eye view) can be inferred based on the visible block parking space corner point information, and then all the corner point information of the block parking space can be obtained.

[0079] In a feasible implementation, step S31 may include steps A11 to A13:

[0080] Step A11: when it is detected that the first corner point and the second corner point exist in the block parking space marking point information, and the third corner point and the fourth corner point do not exist, obtaining block parking space depth information according to the parking space bird's-eye view;

[0081] It should be noted that each parking space block has four corner points. The first and second corner points are the points at the ends of a boundary line of the parking space block. The third and fourth corner points are two corner points in the parking space block that are different from the first and second corner points. The depth information of the parking space block is the length of the parking space block along the parking direction. The depth information of the parking space is the vertical dimension of the parking space block, that is, the distance from the front edge to the rear edge of the parking space block. The depth information of the parking space can be detected using Fisheye BEV image information.

[0082] Step A12: determining the third corner point and the fourth corner point based on the first corner point, the second corner point, and the block parking space depth information;

[0083] It should be noted that if the first corner point and the second corner point are detected in the block parking space marking point information, when the third corner point and the fourth corner point do not exist in the detected block parking space marking point information, depth prior reasoning can be performed based on the first corner point, the second corner point and the block parking space depth information to obtain the third corner point and the fourth corner point to complete the block parking space marking box.

[0084] In a feasible implementation, step A12 may include: obtaining a unit vector from the first corner point to the second corner point; determining a third corner point based on the rotation matrix, the unit vector, the second corner point, and the block parking space depth information; and determining a fourth corner point based on the rotation matrix, the unit vector, the first corner point, and the block parking space depth information.

[0085] For example, please refer to Figure 4 , Figure 4 A schematic diagram of corner point reasoning provided in Example 1 of the block parking control method of this application. For the detected first corner point P1 and second corner point P2, the unit vector from the first corner point P1 to the second corner point P2 can be calculated based on the coordinates of the first corner point P1 and the second corner point P2. Then through the rotation matrix Unit vector The coordinates of the first corner point P1, the second corner point P2 and the block parking space depth information d1 are used to calculate the third corner point P3 and the fourth corner point P4 respectively. The calculation formulas are as follows:

[0086]

[0087] Step A13: Use the first corner point, the second corner point, the third corner point, and the fourth corner point as block parking space corner point information.

[0088] It should be understood that the first corner point, the second corner point, the third corner point and the fourth corner point are complete block parking space corner point information.

[0089] Step S32, determining parking frame information based on the vehicle size information, the block parking space center point information, and the block parking space corner point information;

[0090] It should be understood that after obtaining the block parking space corner point information including all corner point positions of the block parking space, the completed block parking space marking frame can be obtained, because the size of the block parking space marking frame is often smaller than the size of the own vehicle. At this time, the own vehicle size information and the block parking space center point information are obtained, and the completed block parking space marking frame is scaled according to the own vehicle size information to obtain a parking frame that meets the size of the own vehicle, and the position information of the parking frame is determined according to the block parking space center point information to obtain the parking frame information. Specifically, with the center point of the block parking space as the center point of the rectangle, parallel to the two side lines of the block parking space marking frame, and generated at 1.5 times the length and width of the own vehicle, it can be used to plan the parking path. Please refer to Figure 5 , Figure 5 This is a block parking space detection result diagram provided by the first embodiment of the block parking space control method of this application. Figure 5 As shown, the blue represents a block parking space, the green border and the red center point are the block parking space marking frame and marking point generated by YOLO10, the blue outer frame is the parking frame formed based on the size of the vehicle, and the marking points P1 and P2 are the parking frame marking points.

[0091] Step S33: determining parking space type information based on the block parking space marking point information.

[0092] It should be understood that when the first corner point and the second corner point exist in the block parking space marking point information, the prior information obtained based on the bird's-eye view of the parking space can be used to verify whether the block parking space dividing line connecting the first corner point and the second corner point is the boundary line in the block parking space used to mark the vehicle entering the parking space, that is, the entrance line, and the entrance line recognition result is obtained. According to the entrance line recognition result, it can be determined whether the block parking space is a parallel parking space or a vertical parking space, and the parking space type information of the block parking space is obtained.

[0093] In a feasible implementation, step S33 may include: obtaining block parking space width information and block parking space depth information based on the parking space bird's-eye view; determining entrance line information based on the block parking space marking point information; and determining parking space type information based on the block parking space width information, the block parking space depth information, and the entrance line information.

[0094] It should be understood that the block parking space width information w1 and the block parking space depth information d1 can be obtained based on the bird's-eye view of the parking space (i.e., the FisheyeBEV view), where the width information is the horizontal size of the parking space, i.e., the distance from one side boundary to the other side boundary of the parking space, and the depth information is the vertical size of the parking space, i.e., the distance from the front boundary to the rear boundary of the parking space.

[0095] It should be noted that when there are two corner points P1 and P2 connecting a certain block parking space boundary line in the block parking space mark point information, the length of the boundary line connecting the two corner points will be Compare this with the block parking space width information w1 and the block parking space depth information d1 to verify whether the boundary line connecting P1 and P2 is the entrance line. If not, perform depth prior reasoning based on these two corner points to complete the block parking space marking frame. From the completed block parking space marking frame, determine the length and position of the entrance line to obtain the entrance line information. Based on the entrance line length information, determine whether the block parking space is a parallel parking space or a perpendicular parking space, and obtain the parking space type information.

[0096] Additionally, it should be understood that the determined entrance line should be close to the width information w1, the length of the entrance line of a parallel parking space should be greater than the depth information d1, and the length of the entrance line of a perpendicular parking space should be less than the depth information d1.

[0097] Step S40: Control the vehicle to park in a corresponding block parking space according to the parking frame information and the parking space type information.

[0098] It should be understood that after obtaining the parking frame information and parking space type information, the center point position of the parking frame can be determined according to the parking frame information, and the center point position of the parking frame can be used as the target parking position. The optimal path from the current vehicle position to the target parking frame is determined through the path planning algorithm, and the speed and direction are adjusted using the PID controller or MPC according to the parking space type information to ensure that the vehicle travels along the calculated path until the vehicle is parked in the corresponding block parking space.

[0099] This embodiment provides a method for controlling parking in a parking space block. The method obtains a bird's-eye view of the parking space and vehicle size information, determines the center point information and marking point information of the parking space block based on the parking space bird's-eye view, determines parking frame information and parking space type information based on at least one of the vehicle size information, the center point information of the parking space block, and the marking point information of the parking space block, and controls the vehicle to park in the corresponding parking space block based on the parking frame information and the parking space type information. By determining the parking space block marking point information based on the parking space bird's-eye view, scaling the marked parking space outer frame based on the vehicle size information and the parking space block marking point information, and outputting the scaled parking frame information and parking space type information, the method satisfies the requirements for vehicle parking path planning and solves the problem of searching for and parking in parking spaces of varying sizes.

[0100] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 6 , step S40 may include steps S41 to S42:

[0101] Step S41, determining a parking path according to the parking frame information and the parking space type information;

[0102] It should be noted that after obtaining the parking frame information and parking space type information of the block parking space, when determining the parking path, the corresponding parking path composed of multiple arcs and straight lines can be calculated based on the parking frame position information, parking frame size information and parking space type information.

[0103] It should be understood that parking frame position information is used to determine the initial position of the vehicle relative to the block parking space and the target parking position of the parking path. Parking frame size information is used to ensure that the parking path allows the vehicle to park in the space without colliding with other objects. For perpendicular and parallel parking spaces, the parking frame size information can be used to determine whether the vehicle needs to perform steering and reverse maneuvers when parking in the block parking space.

[0104] Step S42 : When it is detected that there is no collision risk in the parking path, the vehicle is controlled to park in a corresponding block parking space according to the parking path.

[0105] It should be understood that the various sensors onboard the vehicle (such as lidar and cameras) can acquire real-time data about the surrounding environment and construct an environmental model. Once a parking path is determined, the system uses the path's location information and the constructed environmental model to detect and assess collision risks. If obstacles (such as people or other vehicles) are detected on the path, the system determines the initial speed, steering angle, and braking strategy, and controls the vehicle to park in the corresponding parking space according to the path.

[0106] It should be noted that while parking into a corresponding block parking space, the system continuously monitors the surrounding environment to prevent potential collisions and accidents. If an obstacle is detected during parking, the system determines whether to change or stop the parking maneuver based on the obstacle type, its motion state, and its location, ensuring safety during parking control.

[0107] This embodiment determines a parking path based on the parking frame information and the parking space type information. When it is detected that there is no collision risk on the parking path, the vehicle is controlled to park in the corresponding block parking space according to the parking path. The collision risk of the parking path is identified during the process of controlling the vehicle to park in the block parking space, thereby ensuring the safety of the parking process.

[0108] For example, in order to help understand the implementation process of the block parking space parking control method obtained by combining this embodiment with the above embodiment 1, please refer to Figure 7 , Figure 7 A simplified flowchart of a method for controlling parking in block parking spaces is provided. Specifically:

[0109] When searching for parking spaces, the camera reads the surround images from the front, back, left, and right of the vehicle, dedistorts them, builds a surround map, and splices them to generate a FisheyeBEV visual map. The YOLO10 target detection model is used to detect parking spaces on the FisheyeBEV map, outputting the target frame (i.e., the block parking space marking frame) and the center point (i.e., the block parking space center point information). If points P1 and P2 can be detected but points P3 and P4 cannot be detected, deep prior reasoning is performed to generate points P3 and P4, complete the parking space frame, and output the corrected parking frame, center point, parking space type, and entrance line, and generate a parking path. If a collision-free parking path can be obtained, the detected block parking space and the generated parking path are output.

[0110] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the block parking space parking control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0111] This application also provides a block parking space parking control device, please refer to Figure 8 The block parking space parking control device includes:

[0112] The information acquisition module 10 is used to obtain a bird's-eye view of the parking space and the size information of the own vehicle;

[0113] a block parking space determination module 20, configured to determine block parking space center point information and block parking space marking point information based on the parking space bird's-eye view;

[0114] a parking frame determination module 30 for determining parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information;

[0115] The parking control module 40 is configured to control the vehicle to park in a corresponding block parking space according to the parking frame information and the parking space type information.

[0116] In one embodiment, the parking frame determination module 30 is further used to determine the block parking space corner point information based on the block parking space marking point information; determine the parking frame information based on the vehicle size information, the block parking space center point information and the block parking space corner point information; and determine the parking space type information based on the block parking space marking point information.

[0117] In one embodiment, the parking frame determination module 30 is further used to obtain block parking space depth information according to the parking space bird's-eye view when it is detected that there are a first corner point and a second corner point in the block parking space marking point information, but no third corner point and a fourth corner point; determine the third corner point and the fourth corner point based on the first corner point, the second corner point and the block parking space depth information; and use the first corner point, the second corner point, the third corner point and the fourth corner point as block parking space corner point information.

[0118] In one embodiment, the parking frame determination module 30 is further used to obtain a unit vector from the first corner point to the second corner point; determine a third corner point based on the rotation matrix, the unit vector, the second corner point and the block parking space depth information; and determine a fourth corner point based on the rotation matrix, the unit vector, the first corner point and the block parking space depth information.

[0119] In one embodiment, the parking frame determination module 30 is further used to obtain block parking space width information and block parking space depth information based on the parking space bird's-eye view; determine entrance line information based on the block parking space marking point information; and determine parking space type information based on the block parking space width information, the block parking space depth information and the entrance line information.

[0120] In one embodiment, the information acquisition module 10 is further configured to acquire a fisheye image of a parking space; perform dedistortion processing on the fisheye image of the parking space; and perform surround mapping on the dedistorted fisheye image of the parking space to obtain a bird's-eye view of the parking space.

[0121] In one embodiment, the parking control module 40 is further configured to determine a parking path based on the parking frame information and the parking space type information; and when it is detected that there is no collision risk on the parking path, control the vehicle to park in the corresponding block parking space according to the parking path.

[0122] The block parking control device provided in this application utilizes the block parking control method described in the aforementioned embodiments to address the technical problem of controlling parking in blocks of different sizes. Compared to the prior art, the block parking control device provided in this application achieves the same beneficial effects as the block parking control method described in the aforementioned embodiments. Other technical features of the block parking control device are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0123] The present application provides a block parking space access control device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the block parking space access control method described in the first embodiment.

[0124] Reference below Figure 9 , which shows a schematic diagram of a block parking space entry control device suitable for implementing embodiments of the present application. The block parking space entry control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The block-shaped parking space parking control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0125] like Figure 9As shown, the block parking control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the block parking control device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. The communication devices 1009 may allow the block parking control device to communicate with other devices wirelessly or by wire to exchange data. While the block parking control device is shown with various systems, it should be understood that not all of the illustrated systems are required to be implemented or present. More or fewer systems may alternatively be implemented or present.

[0126] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0127] The block parking control device provided in this application utilizes the block parking control method described in the aforementioned embodiment to address the technical problem of controlling parking in blocks of different sizes. Compared to the prior art, the block parking control device provided in this application achieves the same beneficial effects as the block parking control method described in the aforementioned embodiment. Other technical features of the block parking control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0128] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0130] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the block parking space parking control method in the above embodiment.

[0131] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0132] The computer-readable storage medium may be included in the block parking space parking control device; or may exist independently without being assembled into the block parking space parking control device.

[0133] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the block parking space parking control device, the block parking space parking control device: obtains a bird's-eye view of the parking space and the size information of the own vehicle; determines the block parking space center point information and the block parking space marking point information based on the parking space bird's-eye view; determines the parking frame information and the parking space type information based on at least one of the own vehicle size information, the block parking space center point information and the block parking space marking point information; and controls the own vehicle to park in the corresponding block parking space according to the parking frame information and the parking space type information.

[0134] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0135] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0136] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0137] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned method for controlling parking access to block parking spaces. This computer-readable storage medium addresses the technical problem of controlling parking access to blocks of parking spaces of varying sizes. Compared to the prior art, the computer-readable storage medium provided in this application offers the same beneficial effects as the method for controlling parking access to block parking spaces provided in the aforementioned embodiments, and will not be further elaborated upon here.

[0138] The present application also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned block parking space parking control method when executed by a processor.

[0139] The computer program product provided in this application solves the technical problem of controlling parking access in block parking spaces of varying sizes. Compared to the prior art, the computer program product provided in this application offers the same beneficial effects as the block parking control method provided in the aforementioned embodiment, and will not be further elaborated here.

[0140] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling parking in block parking spaces, characterized in that: The block parking space entry control method includes: Get a bird's-eye view of parking spaces and your vehicle's dimensions; Determining block parking space center point information and block parking space marking point information based on the parking space bird's-eye view; Determining parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information; Controlling the vehicle to park in a corresponding block parking space according to the parking frame information and the parking space type information; The step of determining the parking frame information and the parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information includes: Determine block parking space corner point information based on the block parking space mark point information; Determining parking frame information based on the vehicle size information, the block parking space center point information, and the block parking space corner point information; Determining parking space type information based on the block parking space marking point information; The step of determining the block parking space corner point information based on the block parking space mark point information includes: When it is detected that the first corner point and the second corner point exist in the block parking space mark point information, and the third corner point and the fourth corner point do not exist, acquiring the block parking space depth information according to the parking space bird's-eye view; Determining the third corner point and the fourth corner point based on the first corner point, the second corner point, and the block parking space depth information; The first corner point, the second corner point, the third corner point and the fourth corner point are used as block parking space corner point information.

2. The method according to claim 1, wherein The step of determining the third corner point and the fourth corner point based on the first corner point, the second corner point, and the block parking space depth information includes: Obtain a unit vector from the first corner point to the second corner point; Determine a third corner point based on the rotation matrix, the unit vector, the second corner point, and the block parking space depth information; A fourth corner point is determined based on the rotation matrix, the unit vector, the first corner point, and the block parking space depth information.

3. The method according to claim 1, wherein The step of determining parking space type information based on the block parking space marking point information includes: Obtaining block parking space width information and block parking space depth information according to the parking space bird's-eye view; Determine entrance line information based on the block parking space marking point information; Parking space type information is determined according to the block parking space width information, the block parking space depth information, and the entrance line information.

4. The method according to claim 1, wherein The step of obtaining a bird's-eye view of a parking space includes: Get the fisheye image of parking spaces; Dedistortion processing is performed on the parking space fisheye image, and surround mapping is performed on the dedistorted parking space fisheye image to obtain a bird's-eye view of the parking space.

5. The method according to any one of claims 1 to 4, characterized in that The step of controlling the vehicle to park in the corresponding block parking space according to the parking frame information and the parking space type information includes: determining a parking path according to the parking frame information and the parking space type information; When it is detected that there is no collision risk in the parking path, the vehicle is controlled to park in the corresponding block parking space according to the parking path.

6. A parking control device for a block parking space, characterized in that: The device comprises: Information acquisition module, used to obtain the bird's-eye view of parking spaces and vehicle size information; A block parking space determination module, configured to determine block parking space center point information and block parking space marking point information based on the parking space bird's-eye view; a parking frame determination module, configured to determine parking frame information and parking space type information based on at least one of the vehicle size information, the block parking space center point information, and the block parking space marking point information; a parking control module, configured to control the vehicle to park in a corresponding block parking space according to the parking frame information and the parking space type information; The parking frame determination module is further configured to determine block parking space corner point information based on the block parking space marking point information; determine parking frame information based on the vehicle size information, the block parking space center point information, and the block parking space corner point information; and determine parking space type information based on the block parking space marking point information. The parking frame determination module is further used to obtain block parking space depth information according to the parking space bird's-eye view when it is detected that there are a first corner point and a second corner point in the block parking space marking point information, but no third corner point and a fourth corner point; determine the third corner point and the fourth corner point based on the first corner point, the second corner point and the block parking space depth information; and use the first corner point, the second corner point, the third corner point and the fourth corner point as block parking space corner point information.

7. A parking control device for block parking spaces, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the block parking space parking control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the block parking space parking control method according to any one of claims 1 to 5 are implemented.

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