Processing method and device for evaluating parking performance of vehicle

Abstract

The embodiment of the invention relates to a processing method and device for evaluating the parking performance of a vehicle. The method comprises the steps that in the evaluation process, output information of a vehicle-mounted system is collected to refresh a vehicle data queue; according to each newly added record in the queue, determining whether to enter a parking stage; recording the current time as the starting time and tracking and monitoring the ending time of the parking if the parking is confirmed to be entered, and performing one-time evaluation based on all records in the queue from the starting time to the ending time; determining whether the current parking is temporary parking, if the current parking is determined to be temporary parking, determining a first moment and a second moment after the ending moment, and performing primary evaluation based on all records in the queue from the first moment to the second moment; and finally, performing scoring calculation on the parking performance of the vehicle at the end of evaluation to obtain an evaluation score. According to the invention, the evaluation efficiency can be improved, and the real-time performance of evaluation can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a processing method and device for evaluating the parking performance of a vehicle. Background Art

[0002] When evaluating the perception and response performance of automatic / unmanned vehicles, it is necessary to evaluate the parking performance of vehicles for different purposes at different parking spots, such as evaluating the parking performance of household vehicles at parking spaces, and evaluating the parking performance of operating vehicles at parking spaces and docking stations. At present, the conventional processing method for evaluating the parking performance of vehicles at parking spaces / platforms is to first collect and save real-time data of the vehicle's one-time evaluation movement process (normal driving -> parking in a parking space or normal driving -> temporary parking at the platform -> driving out of the station), and then analyze and score the collected data based on manual or semi-manual methods according to the parking performance evaluation rules after the end of the current movement process. Obviously, this conventional processing method is difficult to effectively improve the evaluation efficiency due to the existence of manual operation processes, and the real-time performance of the evaluation is also poor. Summary of the invention

[0003] The purpose of the present invention is to address the defects of the prior art and provide a processing method, device, electronic device and computer-readable storage medium for evaluating the parking performance of a vehicle. The present invention collects data of real-time perceived target information, positioning information, motion information and path information output by the vehicle system during the vehicle evaluation process and refreshes the vehicle data queue based on the collected data; and identifies whether the vehicle has entered the parking stage based on the newly added record each time a record is added to the vehicle data queue; and when it is identified that the vehicle has entered the parking stage, the current time is first recorded as the start time of this time, and then the end time of this parking is confirmed through tracking and monitoring, and then all vehicle data records from the start time to the end time in the vehicle data queue are extracted to form a first record sequence, and a real-time parking performance evaluation is performed according to the sequence; and whether this parking is temporary parking is identified, and when it is identified as temporary parking, two time points after this end time are recorded as the first and second moments, and when the current time reaches the second moment, all vehicle data records from the first moment to the second moment in the vehicle data queue are extracted to form a second record sequence, and a real-time parking performance evaluation is performed according to the sequence; finally, at the end of the current evaluation, the parking performance of the vehicle is scored and calculated according to the evaluation data queue to obtain the corresponding evaluation score. The present invention can perform real-time abnormal analysis during vehicle evaluation and instantly output the evaluation score at the end of the evaluation; the present invention can not only improve the evaluation efficiency, but also effectively improve the real-time performance of the evaluation.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention provides a method for evaluating the parking performance of a vehicle, the method comprising:

[0005] During the evaluation process of the first vehicle, the vehicle system of the first vehicle is connected; and real-time perception target information, positioning information, motion information and path information output by the environment perception module, navigation positioning module, path planning module and driving control module of the vehicle system are collected, and corresponding vehicle data records are generated based on the collected data and stored in a preset vehicle data queue;

[0006] When a new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record; and according to the current record, whether the vehicle has entered the parking stage is identified to obtain a corresponding real-time identification result; the real-time identification result includes whether the vehicle has entered or not entered;

[0007] When the latest real-time recognition result is that the vehicle has entered, the current time is recorded as the starting time; from the starting time, the end time of the vehicle's parking is tracked and monitored to obtain the corresponding end time; and all the vehicle data records from the starting time to the end time in the vehicle data queue are extracted to form a corresponding first record sequence; and a parking performance evaluation is performed according to the first record sequence to obtain the corresponding evaluation data record and store it in a preset evaluation data queue; and whether the parking is temporary is judged to obtain the corresponding real-time judgment result; if the real-time judgment result is temporary, the The two time points obtained by adding the current end time to the preset first and second time durations are recorded as the corresponding first time and second time duration; and when the current time reaches the second time duration, all the vehicle data records from the first time duration to the second time duration in the vehicle data queue are extracted to form a corresponding second record sequence; and a parking performance evaluation is performed according to the second record sequence to obtain the corresponding evaluation data records and store them in the evaluation data queue; the real-time judgment results include temporary and non-temporary; the first time duration is the preset platform stop time duration threshold, the second time duration = the first time duration × a, a is the preset delay ratio parameter, a>1;

[0008] When the evaluation of the first vehicle is completed, the parking performance of the vehicle is scored and calculated according to the evaluation data queue to obtain a corresponding first evaluation score.

[0009] Preferably, the vehicle data queue includes a plurality of the vehicle data records;

[0010] The vehicle data record includes a first timestamp, a first perception target set, a first positioning coordinate, a first planned trajectory, a first vehicle speed and a first heading angle;

[0011] The first perception target set is a set of perception targets output by the environmental perception module, and is composed of one or more first perception targets; the first perception target includes a target identifier, a target type, and a target key point coordinate set; the target type includes at least a parking space and a platform; when the target type is a parking space, the corresponding target key point coordinate set includes the parking space center point coordinate, the parking space upper left corner vertex coordinate, the parking space upper right corner vertex coordinate, the parking space lower right corner vertex coordinate, and the parking space lower left corner vertex coordinate; when the target type is a platform, the corresponding target key point coordinate set includes the platform outer side upper left corner vertex coordinate, the platform outer side lower left corner vertex coordinate, the passenger pick-up area outer side center point coordinate, and the passenger drop-off area outer side center point coordinate;

[0012] The first positioning coordinates are the coordinates of the center point of the rear axle of the vehicle output by the navigation positioning module;

[0013] The first planned trajectory is the planned path of the vehicle output by the path planning module, which is formed by sequentially sorting a plurality of first trajectory points; each of the first trajectory points includes a first point coordinate and a first point speed; the first point speed is greater than or equal to zero;

[0014] The first vehicle speed and the first heading angle are real-time vehicle speed and heading angle information output by the driving control module; if the first vehicle speed is less than zero, it means that the vehicle is reversing at the time corresponding to the first timestamp;

[0015] The evaluation data queue includes a plurality of evaluation data records;

[0016] The evaluation data record includes a first abnormal timestamp and a first abnormal type; the first abnormal type includes abnormal parking posture, abnormal reversing behavior and abnormal parking timeout.

[0017] Preferably, the step of identifying whether the vehicle has entered the parking phase according to the current record to obtain a corresponding real-time identification result specifically includes:

[0018] Step 31, taking the first perception target set and the first planning trajectory of the current record as the corresponding current perception target set and the current planning trajectory; and extracting the first point coordinates and the first point speed of the last first trajectory point of the current planning trajectory as the corresponding target point coordinates and the target point speed;

[0019] Step 32, each of the first perceived targets in the current perceived target set whose target type is a parking space is recorded as a corresponding first target; and each of the first perceived targets in the current perceived target set whose target type is a platform is recorded as a corresponding second target; and the total number of the first and second targets is counted to obtain the corresponding first total number and second total number;

[0020] Step 33, identifying the target point speed and the first and second totals;

[0021] Step 34, if the target point speed is zero and the first total is greater than zero, a corresponding first coordinate area is formed by the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space and the lower left corner vertex coordinates of each of the first targets; if only one of all the first coordinate areas can cover the target point coordinates, the corresponding real-time recognition result is set as entered;

[0022] Step 35, if the target point speed is zero and the second total is greater than zero, the straight line segment between the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of each second target is taken as the corresponding first outer side line; and the vertical distance from the target point coordinates to each first outer side line is calculated to obtain the corresponding first side line spacing, and the shortest first side line spacing is recorded as the corresponding current shortest spacing; if the current shortest spacing is less than the preset vehicle-platform parking spacing threshold, the corresponding real-time recognition result is set as entered;

[0023] Step 36: If the target point speed is not zero or the first and second totals are both zero, the corresponding real-time recognition result is set as not entered.

[0024] Preferably, the tracking and monitoring of the end time of the current parking of the vehicle to obtain the corresponding current end time specifically includes:

[0025] Each time a new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record; and it is identified whether the first vehicle speed of the current record is zero; if the first vehicle speed of the current record is zero, all the vehicle data records in the vehicle data queue whose first timestamps are within the preset first most recent time period are extracted to form a corresponding most recent time period record sequence; and it is identified whether all the first vehicle speeds in the most recent time period record sequence are zero; if all the first vehicle speeds in the most recent time period record sequence are zero, tracking and monitoring are stopped and the first timestamp of the first vehicle data record in the most recent time period record sequence whose first vehicle speed is zero is extracted as the corresponding end time of this time.

[0026] Preferably, performing a parking performance evaluation according to the first record sequence to obtain corresponding evaluation data records and storing them in a preset evaluation data queue specifically includes:

[0027] Step 51, recording each of the vehicle data records in the first record sequence where the first vehicle speed is less than zero as a corresponding reversing point record; and counting the total number of the reversing point records to obtain a corresponding total number of reversing points; and when the total number of reversing points is greater than zero, performing an evaluation record adding operation on the evaluation data queue according to all the reversing point records;

[0028] Step 52, taking the last vehicle data record of the first record sequence as the corresponding parking point record; and identifying whether the parking posture of the vehicle is abnormal based on the parking point record, and adding an evaluation record to the evaluation data queue when an abnormal posture is identified.

[0029] Furthermore, the operation of adding an evaluation record to the evaluation data queue according to all the reversing point records specifically includes:

[0030] The first timestamp recorded at each reversing point is used as a corresponding first abnormality timestamp; and a corresponding first abnormality type is set as a reversing behavior abnormality; and each first abnormality timestamp and its corresponding first abnormality type form a corresponding evaluation data record and store it in the evaluation data queue.

[0031] Further, the identifying whether the parking posture of the vehicle is abnormal according to the parking point record and adding the evaluation record to the evaluation data queue when the posture is abnormal is identified, specifically includes:

[0032] Step 71, taking the first perception target set, the first positioning coordinates and the first heading angle recorded in the parking spot as the corresponding current perception target set, the current positioning coordinates and the current heading angle; and recording each of the first perception targets whose target type is a parking space in the current perception target set as the corresponding third target; and recording each of the first perception targets whose target type is a platform in the current perception target set as the corresponding fourth target; and counting the total number of the third and fourth targets to obtain the corresponding third total number and fourth total number; and initializing the corresponding first parking position type to a parking space;

[0033] Wherein, the first parking location type includes parking spaces and platforms;

[0034] Step 72, if the third total is greater than zero, the parking space upper left corner vertex coordinates, the parking space upper right corner vertex coordinates, the parking space lower right corner vertex coordinates and the parking space lower left corner vertex coordinates of each of the third targets form a corresponding second coordinate area; and when only one of all the obtained second coordinate areas can cover the current positioning coordinates, the first parking position type is set to a parking space; and the third target corresponding to the second coordinate area that can cover the current positioning coordinates is used as the corresponding current parking position target;

[0035] Step 73, if the fourth total is greater than zero, the straight line segment between the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of each fourth target is taken as the corresponding second outer side line; and the vertical distance from the current positioning coordinate to each second outer side line is calculated to obtain the corresponding second side line spacing, and the shortest second side line spacing is recorded as the corresponding current shortest spacing; and when the current shortest spacing is less than the preset vehicle-platform parking spacing threshold, the first parking position type is set to platform; and the fourth target corresponding to the current shortest spacing is taken as the corresponding current parking position target;

[0036] Step 74, recording the target type of the current parking position target as the corresponding current parking position type; and identifying the current parking position type;

[0037] Step 75, if the current parking position type is a parking space, then the ground projection coordinates of the four-wheel center point, the front vertex and the rear vertex of the vehicle are identified according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding left front wheel ground contact point coordinates, right front wheel ground contact point coordinates, right rear wheel ground contact point coordinates, left rear wheel ground contact point coordinates, front vertex ground coordinates and rear vertex ground coordinates; and the ground projection point coordinates corresponding to the current positioning coordinates are used as the corresponding rear axle center point ground coordinates; and according to the left front wheel ground contact point coordinates, the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the left rear wheel ground contact point coordinates, the front vertex ground coordinates, the rear vertex ground coordinates, the rear axle center point ground coordinates and the current parking position target, whether the parking posture of the vehicle in the parking space is abnormal is identified, and when the posture is identified to be abnormal, an evaluation record is added to the evaluation data queue;

[0038] The vehicle model parameters at least include vehicle width parameters, vehicle length parameters, front axle position parameters, rear axle position parameters, center axis position parameters, left front wheel position parameters, left rear wheel position parameters, right front wheel position parameters, right rear wheel position parameters, left front door position parameters, left rear door position parameters, right front door position parameters and right rear door position parameters;

[0039] Step 76, if the current parking position type is a platform, then the ground projection coordinates of the center points of the right front and rear wheels and the right front and rear doors of the vehicle are identified according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the right front door center point ground coordinates and the right rear door center point ground coordinates; and according to the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the right front door center point ground coordinates, the right rear door center point ground coordinates and the current parking position target, whether the parking posture of the vehicle on the platform side is abnormal is identified, and when the posture is identified to be abnormal, an evaluation record is added to the evaluation data queue.

[0040] Further preferably, the step of identifying whether the parking posture of the vehicle in the parking space is abnormal according to the left front wheel contact point coordinates, the right front wheel contact point coordinates, the right rear wheel contact point coordinates, the left rear wheel contact point coordinates, the vehicle front vertex ground coordinates, the vehicle rear vertex ground coordinates, the rear axle center point ground coordinates and the current parking position target and performing an evaluation record adding operation to the evaluation data queue when an abnormal posture is identified specifically includes:

[0041] Step 81: based on the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space, the lower left corner vertex coordinates of the parking space and the center point coordinates of the parking space of the current parking position target, the four edge lines and the center line of the current parking space are confirmed to obtain the corresponding left edge line, top edge line, right edge line, bottom edge line and parking space center line; and based on the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space and the lower left corner vertex coordinates of the parking space of the current parking position target, the width and length of the current parking space are calculated to obtain the corresponding width w1 and length h1; and the vehicle width parameter and the vehicle length parameter of the vehicle model parameter are recorded as the corresponding width w c and length h c ;

[0042] Step 82, record the horizontal vertical distance between the left front wheel contact point coordinates and the left side edge line as the corresponding distance d1; record the horizontal vertical distance between the right front wheel contact point coordinates and the right side edge line as the corresponding distance d2; record the horizontal vertical distance between the right rear wheel contact point coordinates and the right side edge line as the corresponding distance d3; record the horizontal vertical distance between the left rear wheel contact point coordinates and the left side edge line as the corresponding distance d4; record the longitudinal vertical distance between the vehicle vertex ground coordinates and the top edge line as the corresponding distance d5; record the longitudinal vertical distance between the vehicle rear vertex ground coordinates and the bottom edge line as the corresponding distance d6; record the horizontal vertical distance between the rear axle center point ground coordinates and the parking space center line as the corresponding distance d7;

[0043] Step 83: according to the spacings d1, d2, d3, d4 and the widths w1, w c Calculate the corresponding lateral deviation ratio p1; and according to the spacing d5, d6, the lengths h1, h c Calculate the corresponding longitudinal deviation ratio p2; and calculate the corresponding center offset ratio p3 according to the spacing d7 and the width w1;

[0044] in,

[0045] The closer the lateral deviation ratio p1 is to zero, the smaller the lateral deviation is; the closer the longitudinal deviation ratio p2 is to zero, the smaller the longitudinal deviation is; the closer the center offset ratio p3 is to zero, the smaller the centerline offset is;

[0046] Step 84, compare the lateral deviation ratio p1, the longitudinal deviation ratio p2 and the center offset ratio p3 based on the preset lateral deviation range, longitudinal deviation range and center offset range; if the lateral deviation ratio p1 does not satisfy the corresponding lateral deviation range, or the longitudinal deviation ratio p2 does not satisfy the corresponding longitudinal deviation range, or the center offset ratio p3 does not satisfy the corresponding center offset range, then use the first timestamp recorded at the parking point as a corresponding first abnormality timestamp, and set a corresponding first abnormality type as a parking posture abnormality, and form a corresponding evaluation data record composed of the first abnormality timestamp and the first abnormality type obtained this time and add it to the evaluation data queue.

[0047] Further preferably, the identifying whether the parking posture of the vehicle on the platform side is abnormal according to the right front wheel contact point coordinates, the right rear wheel contact point coordinates, the right front door center point ground coordinates, the right rear door center point ground coordinates and the current parking position target and performing an evaluation record adding operation to the evaluation data queue when the posture is abnormal, specifically includes:

[0048] Step 91, based on the vertex coordinates of the upper left corner of the platform outside and the vertex coordinates of the lower left corner of the platform outside of the current parking position target, the outer edge line of the current platform is confirmed to obtain the corresponding outer edge line of the platform; and the perpendicular line of the outer center point coordinates of the passenger boarding area of ​​the current parking position target to the outer edge line of the platform is recorded as the corresponding center line of the passenger boarding area; and the perpendicular line of the outer center point coordinates of the passenger drop-off area of ​​the current parking position target to the outer edge line of the platform is recorded as the corresponding center line of the passenger drop-off area;

[0049] Step 92, record the horizontal vertical distance between the right front wheel contact point coordinate and the first outer edge line as the corresponding distance d8; record the horizontal vertical distance between the right rear wheel contact point coordinate and the first outer edge line as the corresponding distance d9; and record the horizontal vertical distance between the ground coordinate of the right front door center point and the first outer edge line as the corresponding distance d 10 ; and the horizontal vertical distance between the ground coordinate of the center point of the right rear door and the first outer edge line is recorded as the corresponding distance d 11 ; and the vertical distance between the ground coordinate of the center point of the right front door and the center line of the boarding area is recorded as the corresponding distance d 12 ; and the vertical distance between the ground coordinate of the center point of the right rear door and the center line of the passenger drop-off area is recorded as the corresponding distance d 13 ;

[0050] Step 93, based on the preset platform stop spacing range, the spacings d8, d9, d 10 d 11 Compare; if the spacing d8, d9, d 10 d 11 If at least one of the intervals does not satisfy the platform stop interval range, the first timestamp recorded at the parking point is used as a corresponding first abnormal timestamp, and a corresponding first abnormal type is set as a parking posture abnormality, and the first abnormal timestamp and the first abnormal type obtained this time form a corresponding evaluation data record and are added to the evaluation data queue;

[0051] Step 94: the distance d is adjusted based on the preset passenger boarding and discharging area offset range. 12 d 13 Compare; if the spacing d 12 d 13If at least one of the intervals does not satisfy the offset range of the passenger boarding and disembarking area, the first timestamp recorded at the parking point is used as a corresponding first abnormality timestamp, and a corresponding first abnormality type is set as a parking posture abnormality, and the first abnormality timestamp and the first abnormality type obtained this time constitute a corresponding evaluation data record and are added to the evaluation data queue.

[0052] Preferably, the determining whether the parking is temporary parking and obtaining a corresponding real-time determination result specifically includes:

[0053] The last vehicle data record of the first record sequence is used as the corresponding parking point record; the first positioning coordinates of the parking point record are used as the corresponding current vehicle coordinates; and each of the first perception targets of the first perception target set of the parking point record whose target type is a parking space or a platform is recorded as a corresponding fifth target or sixth target; and when the number of the fifth targets is not zero, the straight-line distance between the parking space center point coordinates of each of the fifth targets and the current vehicle coordinates is calculated and the calculation result is used as a corresponding first distance; and when the number of the sixth targets is not zero, the straight-line distance between the outer center point coordinates of the boarding area of ​​each of the sixth targets and the current vehicle coordinates is calculated and the calculation result is used as a corresponding first distance; and the fifth target or the sixth target corresponding to the shortest of the first distances is used as the corresponding current target; and the target type of the current target is used as the corresponding current target type; and the current target type is identified; if the current target type is a parking space, the corresponding real-time judgment result is set to be non-temporary; if the current target type is a platform, the corresponding real-time judgment result is set to be temporary.

[0054] Preferably, performing a parking performance evaluation according to the second record sequence to obtain the corresponding evaluation data record and storing it in the evaluation data queue specifically includes:

[0055] Identify whether all the first vehicle speeds in the second record sequence are zero; if so, use the first moment as a corresponding first exception timestamp, and set a corresponding first exception type as a parking timeout exception, and the first exception timestamp and the first exception type obtained this time constitute a corresponding evaluation data record and add it to the evaluation data queue.

[0056] Preferably, the step of scoring the parking performance of the vehicle according to the evaluation data queue to obtain a corresponding first evaluation score specifically includes:

[0057] The total number of each type of abnormality in the evaluation data queue is counted to obtain the corresponding total number of parking posture abnormalities, total number of reversing behavior abnormalities and total number of parking timeout abnormalities; and the abnormality type corresponding to each non-zero total number of abnormalities is recorded as a corresponding evaluation abnormality item;

[0058] And based on each of the evaluation abnormal items, a preset first correspondence table is queried, and the first deduction value field of the first correspondence record that matches the first abnormal type field with each of the evaluation abnormal items in the first correspondence table is extracted as the corresponding abnormal item deduction value; and all the obtained abnormal item deduction values ​​are summed up to obtain the corresponding total deduction value; wherein, the first correspondence table is a correspondence table that reflects the correspondence between abnormal types and abnormal deduction values; the first correspondence table includes three first correspondence records; the first correspondence record includes a first abnormal type field and a first deduction value field; the first abnormal type field includes parking posture abnormality, reversing behavior abnormality and parking timeout abnormality; the first deduction value field is an integer score;

[0059] And based on the preset full score and the total deduction, the corresponding first evaluation score = full score - total deduction is calculated.

[0060] A second aspect of an embodiment of the present invention provides a device for implementing the processing method for evaluating the parking performance of a vehicle as described in the first aspect, the device comprising: a data acquisition module, a data storage module, a parking stage recognition module, a real-time evaluation module and a score calculation module;

[0061] The data storage module is respectively connected to the data acquisition module, the parking stage identification module, the real-time evaluation module and the score calculation module; the parking stage identification module is connected to the real-time evaluation module;

[0062] The data acquisition module is used to connect with the vehicle-mounted system of the first vehicle during the evaluation process of the first vehicle; and collect data on the real-time perception target information, positioning information, motion information and path information output by the environment perception module, navigation positioning module, path planning module and driving control module of the vehicle-mounted system, and generate corresponding vehicle data records based on the collected data and store them in the vehicle data queue;

[0063] The data storage module is used to store the vehicle data queue and the evaluation data queue;

[0064] The parking stage identification module is used to, when a new record is added to the vehicle data queue, use the newly added vehicle data record as the corresponding current record; and identify whether the vehicle has entered the parking stage according to the current record to obtain a corresponding real-time identification result; the real-time identification result includes whether the vehicle has entered the parking stage or not;

[0065] The real-time evaluation module is used to record the current time as the starting time when the latest real-time recognition result is that the vehicle has entered; and from the starting time, track and monitor the end time of the vehicle's current parking to obtain the corresponding end time; and extract all the vehicle data records from the vehicle data queue from the starting time to the end time to form a corresponding first record sequence; and perform a parking performance evaluation based on the first record sequence to obtain the corresponding evaluation data record and store it in the evaluation data queue; and judge whether the parking is temporary parking to obtain the corresponding real-time judgment result; if the real-time judgment result is temporary , then the two time points obtained by adding the current end time to the preset first and second time durations are recorded as the corresponding first time and second time; and when the current time reaches the second time, all the vehicle data records from the first time to the second time in the vehicle data queue are extracted to form a corresponding second record sequence; and a parking performance evaluation is performed according to the second record sequence to obtain the corresponding evaluation data record and store it in the evaluation data queue; the real-time judgment result includes temporary and non-temporary; the first time duration is the preset platform stop time threshold, the second time duration = the first time duration × a, a is the preset delay ratio parameter, a>1;

[0066] The scoring calculation module is used to score the parking performance of the vehicle according to the evaluation data queue to obtain a corresponding first evaluation score when the evaluation of the first vehicle is completed.

[0067] A third aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0068] The processor is used to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps described in the first aspect above;

[0069] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0070] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method described in the first aspect above.

[0071] The embodiments of the present invention provide a processing method, device, electronic device and computer-readable storage medium for evaluating the parking performance of a vehicle. As can be seen from the above invention content, the embodiment of the present invention collects data on the real-time perception target information, positioning information, motion information and path information output by the vehicle system during the vehicle evaluation process and refreshes the vehicle data queue based on the collected data; and when each new record is added to the vehicle data queue, it is identified whether the vehicle has entered the parking stage based on the newly added record; and when it is identified that it has entered the parking stage, the current time is first recorded as the start time of this time, and then the end time of this parking is confirmed through tracking and monitoring, and then all vehicle data records from the start time to the end time in the vehicle data queue are extracted to form a first record sequence, and a real-time parking performance evaluation is performed according to the sequence; and whether this parking is temporary parking is identified, and when it is identified as temporary parking, the two time points after this end time are recorded as the first and second moments, and when the current time reaches the second moment, all vehicle data records from the first moment to the second moment in the vehicle data queue are extracted to form a second record sequence, and a real-time parking performance evaluation is performed according to the sequence; finally, at the end of the current evaluation, the parking performance of the vehicle is scored and calculated according to the evaluation data queue to obtain the corresponding evaluation score. The embodiment of the present invention can perform real-time abnormality analysis during the vehicle evaluation process and output the evaluation score immediately at the end of the evaluation; the embodiment of the present invention not only improves the evaluation efficiency, but also improves the real-time performance of the evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 A schematic diagram of a processing method for evaluating the parking performance of a vehicle provided in the first embodiment of the present invention;

[0073] Figure 2 Schematic diagram of seven types of spacing in a parking space scenario according to the first embodiment of the present invention;

[0074] Figure 3 Schematic diagram of six types of spacing in a platform scenario according to the first embodiment of the present invention;

[0075] Figure 4 A module structure diagram of a processing device for evaluating the parking performance of a vehicle provided in the second embodiment of the present invention;

[0076] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] A method for evaluating the parking performance of a vehicle is provided in a first embodiment of the present invention. Figure 1 A schematic diagram of a method for evaluating the parking performance of a vehicle provided in the first embodiment of the present invention is shown, and includes the following main steps:

[0079] Step 1, during the evaluation process of the first vehicle, connect to the vehicle-mounted system of the first vehicle; and collect data on the real-time perception target information, positioning information, motion information and path information output by the environmental perception module, navigation positioning module, path planning module and driving control module of the vehicle-mounted system, and generate corresponding vehicle data records based on the collected data and store them in a preset vehicle data queue.

[0080] Here, the first vehicle of the embodiment of the present invention is an automatic or unmanned vehicle; the on-board system is the automatic or unmanned driving system of the first vehicle; the environmental perception module, navigation positioning module, path planning module and driving control module are essential modules for most automatic or unmanned driving systems, which can be understood through the public automatic or unmanned driving system literature, and will not be further described here. It should be noted that the vehicle type of the first vehicle can be a household vehicle, such as a sedan, a van, etc.; it can also be an operating vehicle, such as a small or medium-sized bus, a large bus, etc.; if it is a household vehicle, it is only necessary to evaluate the parking performance of the first vehicle in the parking space, and the planning trajectory output by the path planning module of such vehicles will not take a platform as the target parking position; if it is an operating vehicle, it is necessary to evaluate the parking performance of the first vehicle in the parking space and the platform, and the planning trajectory output by the path planning module of such vehicles will take the platform or parking space as the target parking position.

[0081] The vehicle data queue constructed by data collection in the embodiment of the present invention will be emptied each time the evaluation process is started, and the queue will be updated through subsequent data collection. The vehicle data queue includes multiple vehicle data records; each vehicle data record includes a first timestamp, a first perception target set, a first positioning coordinate, a first planning trajectory, a first vehicle speed and a first heading angle; wherein:

[0082] 1) The first timestamp corresponds to the acquisition time point of the current record;

[0083] 2) The first perception target set is a set of perception targets output by the environment perception module, and is composed of one or more first perception targets; each first perception target includes a target identifier, a target type, and a target key point coordinate set; wherein the target type includes at least a parking space and a platform; when the target type is a parking space, the corresponding target key point coordinate set includes the parking space center point coordinate, the parking space upper left corner vertex coordinate, the parking space upper right corner vertex coordinate, the parking space lower right corner vertex coordinate, and the parking space lower left corner vertex coordinate; when the target type is a platform, the corresponding target key point coordinate set includes the platform outer side upper left corner vertex coordinate, the platform outer side lower left corner vertex coordinate, the passenger pick-up area outer side center point coordinate, and the passenger drop-off area outer side center point coordinate;

[0084] 3) The first positioning coordinate is the coordinate of the center point of the rear axle of the vehicle output by the navigation positioning module;

[0085] 4) The first planned trajectory is the planned path of the vehicle output by the path planning module, which is formed by sequentially sorting a plurality of first trajectory points; each first trajectory point includes a first point coordinate and a first point speed; the first point speed is greater than or equal to zero;

[0086] 5) The first vehicle speed and the first heading angle are the real-time vehicle speed and heading angle information output by the driving control module; it should be noted that if the first vehicle speed is less than zero, it means that the vehicle is reversing at the corresponding moment of the first timestamp.

[0087] Step 2: When a new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record; and whether the vehicle enters the parking stage is identified according to the current record to obtain the corresponding real-time identification result;

[0088] Specifically, the process comprises: step 21, when each new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record;

[0089] Step 22, identifying whether the vehicle has entered the parking phase according to the current record to obtain a corresponding real-time identification result;

[0090] Among them, the real-time recognition results include entered and not entered;

[0091] Specifically, it includes: step 221, taking the currently recorded first perception target set and the first planning trajectory as the corresponding current perception target set and the current planning trajectory; and extracting the first point coordinates and the first point speed of the last first trajectory point of the current planning trajectory as the corresponding target point coordinates and the target point speed;

[0092] Step 222, each first perceived target whose target type is a parking space in the current perceived target set is recorded as a corresponding first target; and each first perceived target whose target type is a platform in the current perceived target set is recorded as a corresponding second target; and the total number of the first and second targets is counted to obtain the corresponding first total number and second total number;

[0093] Step 223, identifying the target point speed and the first and second totals;

[0094] Step 224, if the target point speed is zero and the first total is greater than zero, a corresponding first coordinate area is formed by the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space, and the lower left corner vertex coordinates of the parking space of each first target; if there is only one first coordinate area among all the obtained first coordinate areas that can cover the target point coordinates, the corresponding real-time recognition result is set as entered;

[0095] Step 225, if the target point speed is zero and the second total is greater than zero, the straight line segment between the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of each second target is taken as the corresponding first outer line; and the vertical distance from the target point coordinates to each first outer line is calculated to obtain the corresponding first line spacing, and the shortest first line spacing is recorded as the corresponding current shortest spacing; if the current shortest spacing is less than the preset vehicle-platform parking spacing threshold, the corresponding real-time recognition result is set as entered;

[0096] Step 226: If the target point speed is not zero or the first and second totals are both zero, the corresponding real-time recognition result is set as not entered.

[0097] Step 3, when the latest real-time recognition result is that the vehicle has entered, the current time is recorded as the start time of this time; and from this start time, the end time of the vehicle's parking is tracked and monitored to obtain the corresponding end time of this time; and all vehicle data records from this start time to this end time in the vehicle data queue are extracted to form a corresponding first record sequence; and a parking performance evaluation is performed according to the first record sequence to obtain the corresponding evaluation data record and store it in a preset evaluation data queue; and it is judged whether this parking is temporary parking to obtain a corresponding real-time judgment result; if the real-time judgment result is temporary, the two time points obtained by adding the end time of this time to the preset first and second time lengths are recorded as the corresponding first and second time points; and when the current time reaches the second time, all vehicle data records from the first time to the second time in the vehicle data queue are extracted to form a corresponding second record sequence; and a parking performance evaluation is performed according to the second record sequence to obtain the corresponding evaluation data record and store it in the evaluation data queue;

[0098] Specifically, it includes: step 31, when the latest real-time recognition result is that the user has entered, the current time is recorded as the starting time of this time;

[0099] Step 32: From the current start time, the end time of the current parking of the vehicle is tracked and monitored to obtain the corresponding end time;

[0100] Specifically, the method includes: when a new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record; and whether the first vehicle speed of the current record is zero is identified; if the first vehicle speed of the current record is zero, all vehicle data records with first timestamps within a preset first recent time length in the vehicle data queue are extracted to form a corresponding recent time period record sequence; and whether all first vehicle speeds in the recent time period record sequence are zero is identified; if all first vehicle speeds in the recent time period record sequence are zero, tracking and monitoring are stopped and the first timestamp of the first vehicle data record with a first vehicle speed of zero in the recent time period record sequence is extracted as the corresponding end time of this time;

[0101] Here, the first most recent duration is a preset time length parameter, such as the most recent 5 seconds;

[0102] Step 33, extract all vehicle data records from the current start time to the current end time in the vehicle data queue to form a corresponding first record sequence;

[0103] Step 34, a parking performance evaluation is performed according to the first record sequence to obtain corresponding evaluation data records and store them in a preset evaluation data queue;

[0104] Here, the evaluation data queue constructed by the embodiment of the present invention through real-time evaluation will be emptied each time the evaluation process is started, and the queue will be updated through subsequent real-time evaluation; the evaluation data queue includes multiple evaluation data records; each evaluation data record includes a first abnormal timestamp and a first abnormal type; the first abnormal type includes parking posture abnormality, reversing behavior abnormality and parking timeout abnormality;

[0105] The current step 34 specifically includes:

[0106] Step 341, record each vehicle data record in the first record sequence whose first vehicle speed is less than zero as a corresponding reversing point record; and count the total number of the reversing point records to obtain the corresponding total number of reversing points; and when the total number of reversing points is greater than zero, perform an evaluation record adding operation on the evaluation data queue according to all the reversing point records;

[0107] Specifically, the method comprises: step 3411, recording each vehicle data record in the first record sequence whose first vehicle speed is less than zero as a corresponding reversing point record; and counting the total number of the reversing point records to obtain the total number of corresponding reversing points;

[0108] Step 3412: When the total number of reversing points is greater than zero, adding an evaluation record to the evaluation data queue according to all the reversing point records;

[0109] Specifically, it includes: taking the first timestamp of each reversing point record as a corresponding first abnormal timestamp; setting a corresponding first abnormal type as abnormal reversing behavior; and forming a corresponding evaluation data record from each first abnormal timestamp and its corresponding first abnormal type and storing it in an evaluation data queue;

[0110] Step 342, taking the last vehicle data record of the first record sequence as the corresponding parking point record; and identifying whether the parking posture of the vehicle is abnormal according to the parking point record, and adding the evaluation record to the evaluation data queue when the posture is abnormal;

[0111] Specifically, it includes: step 3421, taking the last vehicle data record of the first record sequence as the corresponding parking point record;

[0112] Step 3422, identifying whether the parking position of the vehicle is abnormal according to the parking point record and adding the evaluation record to the evaluation data queue when the parking position is abnormal;

[0113] Specifically include:

[0114] Step 34221, taking the first perception target set, the first positioning coordinates and the first heading angle recorded at the parking point as the corresponding current perception target set, the current positioning coordinates and the current heading angle; and recording the first perception targets of each target type of the parking space in the current perception target set as the corresponding third targets; and recording the first perception targets of each target type of the platform in the current perception target set as the corresponding fourth targets; and counting the total number of the third and fourth targets to obtain the corresponding third total number and fourth total number; and initializing the corresponding first parking position type as the parking space;

[0115] Wherein, the first parking location type includes parking spaces and platforms;

[0116] Step 34222, if the third total is greater than zero, a corresponding second coordinate area is formed by the parking space upper left corner vertex coordinates, the parking space upper right corner vertex coordinates, the parking space lower right corner vertex coordinates and the parking space lower left corner vertex coordinates of each third target; and when there is only one second coordinate area that can cover the current positioning coordinates among all the obtained second coordinate areas, the first parking position type is set to the parking space; and the third target corresponding to the second coordinate area that can cover the current positioning coordinates is used as the corresponding current parking position target;

[0117] Here, it can be known from the foregoing that when the vehicle type of the first vehicle can be a household vehicle, the planning trajectory output by the path planning module of this type of vehicle will not take a platform as the target parking position, that is, it will only output a parking space as the target parking position. Therefore, for the household vehicle, its current parking position target will only be a parking space; but for the first vehicle whose vehicle type is an operating vehicle, the planning trajectory output by the path planning module of this type of vehicle may be a parking space or a platform, so the current parking position target of this type of vehicle may be a parking space or a platform;

[0118] Step 34223, if the fourth total is greater than zero, the straight line segment between the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of each fourth target is taken as the corresponding second outer line; and the vertical distance from the current positioning coordinate to each second outer line is calculated to obtain the corresponding second line spacing, and the shortest second line spacing is recorded as the corresponding current shortest spacing; and when the current shortest spacing is less than the preset vehicle-platform parking spacing threshold, the first parking position type is set to the platform; and the fourth target corresponding to the current shortest spacing is taken as the corresponding current parking position target;

[0119] Here, the vehicle-platform parking distance threshold is a pre-set distance parameter;

[0120] Step 34224, recording the target type of the current parking position target as the corresponding current parking position type; and identifying the current parking position type;

[0121] Here, the current parking location types include parking spaces and platforms;

[0122] Step 34225, if the current parking position type is a parking space, then the ground projection coordinates of the four-wheel center point, the front vertex and the rear vertex of the vehicle are identified according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding left front wheel grounding point coordinates, right front wheel grounding point coordinates, right rear wheel grounding point coordinates, left rear wheel grounding point coordinates, front vertex ground coordinates and rear vertex ground coordinates; and the ground projection point coordinates corresponding to the current positioning coordinates are used as the corresponding rear axle center point ground coordinates; and according to the left front wheel grounding point coordinates, the right front wheel grounding point coordinates, the right rear wheel grounding point coordinates, the left rear wheel grounding point coordinates, the front vertex ground coordinates, the rear vertex ground coordinates, the rear axle center point ground coordinates and the current parking position target, whether the parking posture of the vehicle in the parking space is abnormal is identified, and when the posture is identified to be abnormal, an evaluation record is added to the evaluation data queue;

[0123] Specifically comprising: step 342251, if the current parking position type is a parking space, identifying the ground projection coordinates of the four-wheel center point, the front vertex and the rear vertex of the vehicle according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding left front wheel grounding point coordinates, right front wheel grounding point coordinates, right rear wheel grounding point coordinates, left rear wheel grounding point coordinates, front vertex ground coordinates and rear vertex ground coordinates;

[0124] The vehicle model parameters at least include vehicle width parameters, vehicle length parameters, front axle position parameters, rear axle position parameters, center axis position parameters, left front wheel position parameters, left rear wheel position parameters, right front wheel position parameters, right rear wheel position parameters, left front door position parameters, left rear door position parameters, right front door position parameters and right rear door position parameters;

[0125] It should be noted here that if the vehicle type of the first vehicle is a household vehicle, then the eight parameters of the vehicle type parameters, namely, the left front wheel position parameter, the left rear wheel position parameter, the right front wheel position parameter, the right rear wheel position parameter, the left front door position parameter, the left rear door position parameter, the right front door position parameter and the right rear door position parameter, can all be empty; if the vehicle type of the first vehicle is an operating vehicle, then all parameters in the vehicle type parameters cannot be empty;

[0126] Step 342252, and use the ground projection point coordinates corresponding to the current positioning coordinates as the corresponding ground coordinates of the rear axle center point;

[0127] Step 342253, based on the left front wheel ground contact point coordinates, the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the left rear wheel ground contact point coordinates, the front vertex ground coordinates, the rear vertex ground coordinates, the rear axle center point ground coordinates and the current parking position target, identify whether the parking posture of the vehicle in the parking space is abnormal, and add an evaluation record to the evaluation data queue when an abnormal posture is identified;

[0128] Specifically include:

[0129] Step 342253-1, based on the upper left corner vertex coordinates, the upper right corner vertex coordinates, the lower right corner vertex coordinates, the lower left corner vertex coordinates and the center point coordinates of the current parking position target, the four edge lines and the center line of the current parking space are confirmed to obtain the corresponding left edge line, top edge line, right edge line, bottom edge line and parking space center line;

[0130] Step 342253-2, and calculate the width and length of the current parking space based on the upper left corner vertex coordinates, the upper right corner vertex coordinates, the lower right corner vertex coordinates and the lower left corner vertex coordinates of the parking space of the current parking position target to obtain the corresponding width w1 and length h1; and record the vehicle width parameter and vehicle length parameter of the vehicle model parameter as the corresponding width w c and length h c ;

[0131] Step 342253-3, record the horizontal vertical distance between the left front wheel contact point coordinates and the left side edge line as the corresponding distance d1; record the horizontal vertical distance between the right front wheel contact point coordinates and the right side edge line as the corresponding distance d2; record the horizontal vertical distance between the right rear wheel contact point coordinates and the right side edge line as the corresponding distance d3; record the horizontal vertical distance between the left rear wheel contact point coordinates and the left side edge line as the corresponding distance d4; record the longitudinal vertical distance between the vehicle vertex ground coordinates and the top edge line as the corresponding distance d5; record the longitudinal vertical distance between the vehicle rear vertex ground coordinates and the bottom edge line as the corresponding distance d6; record the horizontal vertical distance between the rear axle center point ground coordinates and the parking space center line as the corresponding distance d7;

[0132] Here, the spacings d1, d2, d3, d4, d5, d6, and d7 of the embodiment of the present invention are as follows: Figure 2 This is a schematic diagram of seven types of spacing in a parking space scenario according to the first embodiment of the present invention;

[0133] Step 342253-4, according to the spacing d1, d2, d3, d4 and the width w1, w c Calculate the corresponding lateral deviation ratio p1; and according to the spacing d5, d6 length h1, h c Calculate the corresponding longitudinal deviation ratio p2; and calculate the corresponding center offset ratio p3 according to the spacing d7 and the width w1;

[0134] in,

[0135] Here, the closer the lateral deviation ratio p1 is to zero, the smaller the lateral deviation is; the closer the longitudinal deviation ratio p2 is to zero, the smaller the longitudinal deviation is; and the closer the center offset ratio p3 is to zero, the smaller the centerline offset is;

[0136] Step 342253-5, compare the lateral deviation ratio p1, the longitudinal deviation ratio p2 and the center offset ratio p3 based on the preset lateral deviation range, the longitudinal deviation range and the center offset range; if the lateral deviation ratio p1 does not satisfy the corresponding lateral deviation range, or the longitudinal deviation ratio p2 does not satisfy the corresponding longitudinal deviation range, or the center offset ratio p3 does not satisfy the corresponding center offset range, then use the first timestamp recorded at the parking point as a corresponding first abnormal timestamp, and set a corresponding first abnormal type as parking posture abnormality, and form a corresponding evaluation data record composed of the first abnormal timestamp and the first abnormal type obtained this time, and add it to the evaluation data queue;

[0137] Here, the lateral deviation range, longitudinal deviation range and center offset range are three preset value ranges;

[0138] Step 34226, if the current parking position type is a platform, the ground projection coordinates of the center points of the right front and rear wheels and the center points of the right front and rear doors of the vehicle are identified according to the current positioning coordinates, the current heading angle, and the vehicle model parameters of the first vehicle to obtain the corresponding right front wheel grounding point coordinates, right rear wheel grounding point coordinates, right front door center point ground coordinates, and right rear door center point ground coordinates; and according to the right front wheel grounding point coordinates, right rear wheel grounding point coordinates, right front door center point ground coordinates, right rear door center point ground coordinates, and the current parking position target, whether the parking posture of the vehicle on the platform side is abnormal is identified, and when the posture is identified to be abnormal, an evaluation record is added to the evaluation data queue;

[0139] Specifically comprising: step 342261, if the current parking position type is a platform, identifying the ground projection coordinates of the center points of the right front and rear wheels and the center points of the right front and rear doors of the vehicle according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding right front wheel grounding point coordinates, right rear wheel grounding point coordinates, right front door center point ground coordinates and right rear door center point ground coordinates;

[0140] Step 342262, and identify whether the parking posture of the vehicle on the platform side is abnormal based on the coordinates of the right front wheel ground contact point, the coordinates of the right rear wheel ground contact point, the ground coordinates of the right front door center point, the ground coordinates of the right rear door center point and the current parking position target, and add an evaluation record to the evaluation data queue when an abnormal posture is identified;

[0141] Specifically include:

[0142] Step 342262-1, based on the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of the current parking position target, the outer edge line of the current platform is confirmed to obtain the corresponding outer edge line of the platform; and the perpendicular line of the coordinates of the outer center point of the passenger boarding area of ​​the current parking position target to the outer edge line of the platform is recorded as the corresponding center line of the passenger boarding area; and the perpendicular line of the coordinates of the outer center point of the passenger drop-off area of ​​the current parking position target to the outer edge line of the platform is recorded as the corresponding center line of the passenger drop-off area;

[0143] Step 342262-2, record the horizontal vertical distance between the coordinates of the right front wheel contact point and the first outer edge line as the corresponding distance d8; record the horizontal vertical distance between the coordinates of the right rear wheel contact point and the first outer edge line as the corresponding distance d9; and record the horizontal vertical distance between the ground coordinates of the center point of the right front door and the first outer edge line as the corresponding distance d 10 ; and the horizontal vertical distance between the ground coordinate of the center point of the right rear door and the first outer edge line is recorded as the corresponding distance d 11 ; and the vertical distance between the ground coordinates of the center point of the right front door and the center line of the boarding area is recorded as the corresponding distance d 12 ; and the vertical distance between the ground coordinates of the center point of the right rear door and the center line of the passenger drop-off area is recorded as the corresponding distance d 13 ;

[0144] Here, the spacings d8, d9, and d 10 d 11 d 12 d 13 like Figure 3 This is a schematic diagram of six types of spacing in a platform scenario according to the first embodiment of the present invention;

[0145] Step 342262-3, based on the preset platform stop spacing range, the spacings d8, d9, and d 10 d 11 Compare; if the spacing d8, d9, d 10 d 11 If at least one of the intervals does not meet the platform stop interval range, the first timestamp recorded at the parking point is used as a corresponding first abnormal timestamp, and a corresponding first abnormal type is set as a parking posture abnormality, and the first abnormal timestamp and the first abnormal type obtained this time form a corresponding evaluation data record and add it to the evaluation data queue;

[0146] Here, the platform stop spacing range is a pre-set distance range;

[0147] Step 342262-4, based on the preset passenger boarding and disembarking area offset range, the distance d 12 d 13 Compare; if the spacing d 12d 13 If at least one of the intervals does not satisfy the offset range of the boarding and disembarking area, the first timestamp recorded at the parking point is used as a corresponding first abnormal timestamp, and a corresponding first abnormal type is set as a parking position abnormality, and the first abnormal timestamp and the first abnormal type obtained this time form a corresponding evaluation data record and are added to the evaluation data queue;

[0148] Here, the passenger boarding and disembarking area offset range is a preset distance range;

[0149] Step 35, determining whether the parking is temporary parking or not to obtain a corresponding real-time determination result;

[0150] Among them, the real-time judgment results include temporary and non-temporary;

[0151] Specifically, it includes: taking the last vehicle data record of the first record sequence as the corresponding parking point record; taking the first positioning coordinates of the parking point record as the corresponding current vehicle coordinates; and recording the first perception targets of each target type of parking space or platform in the first perception target set of the parking point record as the corresponding fifth target or sixth target; and when the number of fifth targets is not zero, calculating the straight-line distance between the parking space center point coordinates of each fifth target and the current vehicle coordinates and taking the calculation result as a corresponding first distance; and when the number of sixth targets is not zero, calculating the straight-line distance between the outer center point coordinates of the boarding area of ​​each sixth target and the current vehicle coordinates and taking the calculation result as a corresponding first distance; and taking the fifth target or sixth target corresponding to the shortest first distance as the corresponding current target; and taking the target type of the current target as the corresponding current target type; and identifying the current target type; if the current target type is a parking space, setting the corresponding real-time judgment result as non-temporary; if the current target type is a platform, setting the corresponding real-time judgment result as temporary;

[0152] Step 36, if the real-time judgment result is temporary, two time points obtained by adding the current end time to the preset first and second durations are recorded as the corresponding first and second time points;

[0153] Wherein, the first duration is a preset platform stop duration threshold, the second duration = the first duration × a, a is a preset delay ratio parameter, a>1;

[0154] Step 37, when the current time reaches the second moment, all vehicle data records from the first moment to the second moment in the vehicle data queue are extracted to form a corresponding second record sequence;

[0155] Step 38, performing a parking performance evaluation according to the second record sequence to obtain corresponding evaluation data records and storing them in an evaluation data queue;

[0156] Specifically, it includes: identifying whether all the first vehicle speeds in the second record sequence are all zero; if so, taking the first moment as a corresponding first exception timestamp, and setting a corresponding first exception type as a parking timeout exception, and the first exception timestamp and the first exception type obtained this time form a corresponding evaluation data record and add it to the evaluation data queue.

[0157] Step 4: when the evaluation of the first vehicle is finished, the parking performance of the vehicle is scored and calculated according to the evaluation data queue to obtain a corresponding first evaluation score;

[0158] Specifically, step 41 includes: counting the total number of various abnormal types in the evaluation data queue to obtain the corresponding total number of parking posture abnormalities, total number of reversing behavior abnormalities and total number of parking timeout abnormalities; and recording the abnormal type corresponding to each abnormal total number that is not 0 as a corresponding evaluation abnormal item;

[0159] Step 42, based on each evaluation abnormal item, a preset first correspondence table is queried, and the first deduction value field of the first correspondence record matching the first abnormal type field with each evaluation abnormal item in the first correspondence table is extracted as the corresponding abnormal item deduction value; and the sum of all the abnormal item deduction values ​​obtained is calculated to obtain the corresponding total deduction value;

[0160] Among them, the first correspondence table is a correspondence table reflecting the correspondence between the abnormal type and the abnormal deduction value; the first correspondence table includes three first correspondence records; the first correspondence record includes a first abnormal type field and a first deduction value field; the first abnormal type field includes parking posture abnormality, reversing behavior abnormality and parking timeout abnormality; the first deduction value field is an integer score;

[0161] Here, the current step is to calculate the total deduction value by summing up all the deduction values ​​of abnormal items; this calculation method can also be adjusted according to actual needs; one of the adjusted calculation methods is: weighted sum calculation of all abnormal item deduction values ​​and the calculation result is used as the total deduction value; another adjusted calculation method is: the product of each abnormal item deduction value and the corresponding total number of abnormalities is used as the corresponding abnormal item total score, and then the total score of all abnormal items is summed up or weighted summed and the calculation result is used as the total deduction value;

[0162] Step 43, based on the preset full score and total deduction, the corresponding first evaluation score = full score - total deduction. Here, the full score is a preset score, such as 10 points, 100 points, etc.

[0163] Figure 4The module structure diagram of a processing device for evaluating the parking performance of a vehicle provided in the second embodiment of the present invention, the device is a terminal device or a server that implements the aforementioned method embodiment, and can also be a device that enables the aforementioned terminal device or server to implement the aforementioned method embodiment, for example, the device can be a device or chip system of the aforementioned terminal device or server. Figure 4 As shown, the processing device 200 for evaluating the parking performance of a vehicle provided in the second embodiment of the present invention includes: a data acquisition module 2001, a data storage module 2002, a parking stage identification module 2003, a real-time evaluation module 2004 and a score calculation module 2005.

[0164] The data storage module 2002 is connected to the data collection module 2001 , the parking stage identification module 2003 , the real-time evaluation module 2004 and the score calculation module 2005 respectively; the parking stage identification module 2003 is connected to the real-time evaluation module 2004 .

[0165] The data acquisition module 2001 is used to connect to the vehicle-mounted system of the first vehicle 100 during the evaluation process of the first vehicle; and to collect data on the real-time perception target information, positioning information, motion information and path information output by the environmental perception module, navigation positioning module, path planning module and driving control module of the vehicle-mounted system, and generate corresponding vehicle data records based on the collected data and store them in the vehicle data queue.

[0166] The data storage module 2002 is used to store the vehicle data queue and the evaluation data queue.

[0167] The parking stage identification module 2003 is used to use the newly added vehicle data record as the corresponding current record every time a record is added to the vehicle data queue; and to identify whether the vehicle has entered the parking stage based on the current record to obtain the corresponding real-time identification result; the real-time identification result includes whether the vehicle has entered or not entered.

[0168] The real-time evaluation module 2004 is used to record the current time as the start time when the latest real-time recognition result is that the vehicle has entered; and from the start time, track and monitor the end time of the vehicle's parking to obtain the corresponding end time; and extract all vehicle data records from the vehicle data queue from the start time to the end time to form a corresponding first record sequence; and perform a parking performance evaluation based on the first record sequence to obtain the corresponding evaluation data record and store it in the evaluation data queue; and determine whether the parking is temporary parking to obtain the corresponding real-time judgment result; if the real-time judgment result If it is temporary, the two time points obtained by adding the current end time to the preset first and second durations are recorded as the corresponding first and second moments; and when the current time reaches the second moment, all vehicle data records from the first moment to the second moment in the vehicle data queue are extracted to form a corresponding second record sequence; and a parking performance evaluation is performed according to the second record sequence to obtain the corresponding evaluation data records and store them in the evaluation data queue; the real-time judgment results include temporary and non-temporary; the first duration is the preset platform stop duration threshold, the second duration = first duration × a, a is the preset delay ratio parameter, a>1.

[0169] The scoring calculation module 2005 is used to score the parking performance of the vehicle according to the evaluation data queue to obtain a corresponding first evaluation score when the evaluation of the first vehicle is completed.

[0170] A processing device for evaluating the parking performance of a vehicle provided in an embodiment of the present invention can execute the method steps in the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0171] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the data acquisition module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above-mentioned module is determined. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0172] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital signal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0173] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the above method embodiments are generated. The above computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.) methods. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The above-mentioned available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0174] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device may be a terminal device or a server for implementing the method of the aforementioned embodiment, or may be a terminal device or a server for implementing the method of the aforementioned embodiment connected to the aforementioned terminal device or server. Figure 5As shown, the electronic device may include: a processor 301 (such as a CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiver 303. Various instructions may be stored in the memory 302 to complete various processing functions and implement the processing steps described in the aforementioned embodiment method. Preferably, the electronic device involved in the embodiment of the present invention also includes: a power supply 304, a system bus 305 and a communication port 306. The system bus 305 is used to realize the communication connection between components. The above-mentioned communication port 306 is used for connecting and communicating between the electronic device and other peripherals.

[0175] exist Figure 5 The system bus 305 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage.

[0176] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (Network Processor, NP), a graphics processing unit (Graphics Processing Unit, GPU), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0177] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the method and processing process provided in the above embodiments.

[0178] The embodiments of the present invention provide a processing method, device, electronic device and computer-readable storage medium for evaluating the parking performance of a vehicle. As can be seen from the above invention content, the embodiment of the present invention collects data on the real-time perception target information, positioning information, motion information and path information output by the vehicle system during the vehicle evaluation process and refreshes the vehicle data queue based on the collected data; and when each new record is added to the vehicle data queue, it is identified whether the vehicle has entered the parking stage based on the newly added record; and when it is identified that it has entered the parking stage, the current time is first recorded as the start time of this time, and then the end time of this parking is confirmed through tracking and monitoring, and then all vehicle data records from the start time to the end time in the vehicle data queue are extracted to form a first record sequence, and a real-time parking performance evaluation is performed according to the sequence; and whether this parking is temporary parking is identified, and when it is identified as temporary parking, the two time points after this end time are recorded as the first and second moments, and when the current time reaches the second moment, all vehicle data records from the first moment to the second moment in the vehicle data queue are extracted to form a second record sequence, and a real-time parking performance evaluation is performed according to the sequence; finally, at the end of the current evaluation, the parking performance of the vehicle is scored and calculated according to the evaluation data queue to obtain the corresponding evaluation score. The embodiment of the present invention can perform real-time abnormality analysis during the vehicle evaluation process and output the evaluation score immediately at the end of the evaluation; the embodiment of the present invention not only improves the evaluation efficiency, but also improves the real-time performance of the evaluation.

[0179] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0180] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0181] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for evaluating the parking performance of a vehicle, characterized in that: The method comprises: During the evaluation process of the first vehicle, the vehicle system of the first vehicle is connected; and real-time perception target information, positioning information, motion information and path information output by the environment perception module, navigation positioning module, path planning module and driving control module of the vehicle system are collected, and corresponding vehicle data records are generated based on the collected data and stored in a preset vehicle data queue; When a new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record; and according to the current record, whether the vehicle has entered the parking stage is identified to obtain a corresponding real-time identification result; the real-time identification result includes whether the vehicle has entered or not entered; When the latest real-time recognition result is that the vehicle has entered, the current time is recorded as the starting time; from the starting time, the end time of the vehicle's parking is tracked and monitored to obtain the corresponding end time; and all the vehicle data records from the starting time to the end time in the vehicle data queue are extracted to form a corresponding first record sequence; and a parking performance evaluation is performed according to the first record sequence to obtain the corresponding evaluation data record and store it in a preset evaluation data queue; and whether the parking is temporary is judged to obtain the corresponding real-time judgment result; if the real-time judgment result is temporary, the The two time points obtained by adding the current end time to the preset first and second time durations are recorded as the corresponding first time and second time duration; and when the current time reaches the second time duration, all the vehicle data records from the first time duration to the second time duration in the vehicle data queue are extracted to form a corresponding second record sequence; and a parking performance evaluation is performed according to the second record sequence to obtain the corresponding evaluation data records and store them in the evaluation data queue; the real-time judgment results include temporary and non-temporary; the first time duration is the preset platform stop time duration threshold, the second time duration = the first time duration × a, a is the preset delay ratio parameter, a>1; When the evaluation of the first vehicle is completed, the parking performance of the vehicle is scored and calculated according to the evaluation data queue to obtain a corresponding first evaluation score.

2. The method for evaluating the parking performance of a vehicle according to claim 1, characterized in that: The vehicle data queue includes a plurality of vehicle data records; The vehicle data record includes a first timestamp, a first perception target set, a first positioning coordinate, a first planned trajectory, a first vehicle speed and a first heading angle; The first perception target set is a set of perception targets output by the environment perception module, and is composed of one or more first perception targets; the first perception target includes a target identifier, a target type, and a target key point coordinate set; the target type includes at least a parking space and a platform; When the target type is a parking space, the corresponding target key point coordinate set includes the parking space center point coordinate, the parking space upper left corner vertex coordinate, the parking space upper right corner vertex coordinate, the parking space lower right corner vertex coordinate and the parking space lower left corner vertex coordinate; when the target type is a platform, the corresponding target key point coordinate set includes the platform outer upper left corner vertex coordinate, the platform outer lower left corner vertex coordinate, the passenger pick-up area outer center point coordinate and the passenger drop-off area outer center point coordinate; The first positioning coordinates are the coordinates of the center point of the rear axle of the vehicle output by the navigation positioning module; The first planned trajectory is the planned path of the vehicle output by the path planning module, which is formed by sequentially sorting a plurality of first trajectory points; each of the first trajectory points includes a first point coordinate and a first point speed; the first point speed is greater than or equal to zero; The first vehicle speed and the first heading angle are real-time vehicle speed and heading angle information output by the driving control module; if the first vehicle speed is less than zero, it means that the vehicle is reversing at the time corresponding to the first timestamp; The evaluation data queue includes a plurality of evaluation data records; The evaluation data record includes a first abnormal timestamp and a first abnormal type; the first abnormal type includes abnormal parking posture, abnormal reversing behavior and abnormal parking timeout.

3. The method for evaluating the parking performance of a vehicle according to claim 2, characterized in that: The step of identifying whether the vehicle has entered the parking phase according to the current record to obtain a corresponding real-time identification result specifically includes: Step 31, taking the first perception target set and the first planning trajectory of the current record as the corresponding current perception target set and the current planning trajectory; and extracting the first point coordinates and the first point speed of the last first trajectory point of the current planning trajectory as the corresponding target point coordinates and the target point speed; Step 32, each of the first perceived targets in the current perceived target set whose target type is a parking space is recorded as a corresponding first target; and each of the first perceived targets in the current perceived target set whose target type is a platform is recorded as a corresponding second target; and the total number of the first and second targets is counted to obtain the corresponding first total number and second total number; Step 33, identifying the target point speed and the first and second totals; Step 34, if the target point speed is zero and the first total is greater than zero, a corresponding first coordinate area is formed by the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space and the lower left corner vertex coordinates of each of the first targets; if only one of all the first coordinate areas can cover the target point coordinates, the corresponding real-time recognition result is set as entered; Step 35, if the target point speed is zero and the second total is greater than zero, the straight line segment between the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of each second target is taken as the corresponding first outer side line; and the vertical distance from the target point coordinates to each first outer side line is calculated to obtain the corresponding first side line spacing, and the shortest first side line spacing is recorded as the corresponding current shortest spacing; if the current shortest spacing is less than the preset vehicle-platform parking spacing threshold, the corresponding real-time recognition result is set as entered; Step 36: If the target point speed is not zero or the first and second totals are both zero, the corresponding real-time recognition result is set as not entered.

4. The method for evaluating the parking performance of a vehicle according to claim 2, characterized in that: The tracking and monitoring of the end time of the current parking of the vehicle to obtain the corresponding current end time specifically includes: Each time a new record is added to the vehicle data queue, the newly added vehicle data record is used as the corresponding current record; and it is identified whether the first vehicle speed of the current record is zero; if the first vehicle speed of the current record is zero, all the vehicle data records in the vehicle data queue whose first timestamps are within the preset first most recent time period are extracted to form a corresponding most recent time period record sequence; and it is identified whether all the first vehicle speeds in the most recent time period record sequence are zero; if all the first vehicle speeds in the most recent time period record sequence are zero, tracking and monitoring are stopped and the first timestamp of the first vehicle data record in the most recent time period record sequence whose first vehicle speed is zero is extracted as the corresponding end time of this time.

5. The method for evaluating the parking performance of a vehicle according to claim 2, characterized in that: The performing a parking performance evaluation according to the first record sequence to obtain corresponding evaluation data records and storing them in a preset evaluation data queue specifically includes: Step 51, recording each of the vehicle data records in the first record sequence where the first vehicle speed is less than zero as a corresponding reversing point record; and counting the total number of the reversing point records to obtain a corresponding total number of reversing points; and when the total number of reversing points is greater than zero, performing an evaluation record adding operation on the evaluation data queue according to all the reversing point records; Step 52, taking the last vehicle data record of the first record sequence as the corresponding parking point record; and identifying whether the parking posture of the vehicle is abnormal based on the parking point record, and adding an evaluation record to the evaluation data queue when an abnormal posture is identified.

6. The method for evaluating the parking performance of a vehicle according to claim 5, characterized in that: The operation of adding evaluation records to the evaluation data queue according to all the reversing point records specifically includes: The first timestamp recorded at each reversing point is used as a corresponding first abnormality timestamp; and a corresponding first abnormality type is set as a reversing behavior abnormality; and each first abnormality timestamp and its corresponding first abnormality type form a corresponding evaluation data record and store it in the evaluation data queue.

7. The method for evaluating the parking performance of a vehicle according to claim 5, characterized in that: The step of identifying whether the parking position of the vehicle is abnormal according to the parking point record and adding an evaluation record to the evaluation data queue when an abnormal position is identified specifically includes: Step 71, taking the first perception target set, the first positioning coordinates and the first heading angle recorded in the parking spot as the corresponding current perception target set, the current positioning coordinates and the current heading angle; and recording each of the first perception targets whose target type is a parking space in the current perception target set as the corresponding third target; and recording each of the first perception targets whose target type is a platform in the current perception target set as the corresponding fourth target; and counting the total number of the third and fourth targets to obtain the corresponding third total number and fourth total number; and initializing the corresponding first parking position type to a parking space; Wherein, the first parking location type includes parking spaces and platforms; Step 72, if the third total is greater than zero, the parking space upper left corner vertex coordinates, the parking space upper right corner vertex coordinates, the parking space lower right corner vertex coordinates and the parking space lower left corner vertex coordinates of each of the third targets form a corresponding second coordinate area; and when only one of all the obtained second coordinate areas can cover the current positioning coordinates, the first parking position type is set to a parking space; and the third target corresponding to the second coordinate area that can cover the current positioning coordinates is used as the corresponding current parking position target; Step 73, if the fourth total is greater than zero, the straight line segment between the vertex coordinates of the upper left corner of the platform and the vertex coordinates of the lower left corner of the platform of each fourth target is taken as the corresponding second outer side line; and the vertical distance from the current positioning coordinate to each second outer side line is calculated to obtain the corresponding second side line spacing, and the shortest second side line spacing is recorded as the corresponding current shortest spacing; and when the current shortest spacing is less than the preset vehicle-platform parking spacing threshold, the first parking position type is set to platform; and the fourth target corresponding to the current shortest spacing is taken as the corresponding current parking position target; Step 74, recording the target type of the current parking position target as the corresponding current parking position type; and identifying the current parking position type; Step 75, if the current parking position type is a parking space, then the ground projection coordinates of the four-wheel center point, the front vertex and the rear vertex of the vehicle are identified according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding left front wheel ground contact point coordinates, right front wheel ground contact point coordinates, right rear wheel ground contact point coordinates, left rear wheel ground contact point coordinates, front vertex ground coordinates and rear vertex ground coordinates; and the ground projection point coordinates corresponding to the current positioning coordinates are used as the corresponding rear axle center point ground coordinates; and according to the left front wheel ground contact point coordinates, the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the left rear wheel ground contact point coordinates, the front vertex ground coordinates, the rear vertex ground coordinates, the rear axle center point ground coordinates and the current parking position target, whether the parking posture of the vehicle in the parking space is abnormal is identified, and when the posture is identified to be abnormal, an evaluation record is added to the evaluation data queue; The vehicle model parameters at least include vehicle width parameters, vehicle length parameters, front axle position parameters, rear axle position parameters, center axis position parameters, left front wheel position parameters, left rear wheel position parameters, right front wheel position parameters, right rear wheel position parameters, left front door position parameters, left rear door position parameters, right front door position parameters and right rear door position parameters; Step 76, if the current parking position type is a platform, then the ground projection coordinates of the center points of the right front and rear wheels and the right front and rear doors of the vehicle are identified according to the current positioning coordinates, the current heading angle and the vehicle model parameters of the first vehicle to obtain the corresponding right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the right front door center point ground coordinates and the right rear door center point ground coordinates; and according to the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the right front door center point ground coordinates, the right rear door center point ground coordinates and the current parking position target, whether the parking posture of the vehicle on the platform side is abnormal is identified, and when the posture is identified to be abnormal, an evaluation record is added to the evaluation data queue.

8. The method for evaluating the parking performance of a vehicle according to claim 7, characterized in that: The method further comprises: identifying whether the parking posture of the vehicle in the parking space is abnormal according to the left front wheel ground contact point coordinates, the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the left rear wheel ground contact point coordinates, the vehicle front vertex ground coordinates, the vehicle rear vertex ground coordinates, the rear axle center point ground coordinates and the current parking position target, and performing an evaluation record adding operation on the evaluation data queue when the posture is abnormal. Specifically, the method comprises: Step 81: based on the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space, the lower left corner vertex coordinates of the parking space and the center point coordinates of the parking space of the current parking position target, the four edge lines and the center line of the current parking space are confirmed to obtain the corresponding left edge line, top edge line, right edge line, bottom edge line and parking space center line; and based on the upper left corner vertex coordinates of the parking space, the upper right corner vertex coordinates of the parking space, the lower right corner vertex coordinates of the parking space and the lower left corner vertex coordinates of the parking space of the current parking position target, the width and length of the current parking space are calculated to obtain the corresponding width w1 and length h1; and the vehicle width parameter and the vehicle length parameter of the vehicle model parameter are recorded as the corresponding width w c and length h c ; Step 82, record the horizontal vertical distance between the left front wheel contact point coordinates and the left side edge line as the corresponding distance d1; record the horizontal vertical distance between the right front wheel contact point coordinates and the right side edge line as the corresponding distance d2; record the horizontal vertical distance between the right rear wheel contact point coordinates and the right side edge line as the corresponding distance d3; record the horizontal vertical distance between the left rear wheel contact point coordinates and the left side edge line as the corresponding distance d4; record the longitudinal vertical distance between the vehicle vertex ground coordinates and the top edge line as the corresponding distance d5; record the longitudinal vertical distance between the vehicle rear vertex ground coordinates and the bottom edge line as the corresponding distance d6; record the horizontal vertical distance between the rear axle center point ground coordinates and the parking space center line as the corresponding distance d7; Step 83: according to the spacings d1, d2, d3, d4 and the widths w1, w c Calculate the corresponding lateral deviation ratio p1; and according to the spacing d5, d6, the lengths h1, h c Calculate the corresponding longitudinal deviation ratio p2; and calculate the corresponding center offset ratio p3 according to the spacing d7 and the width w1; in, The closer the lateral deviation ratio p1 is to zero, the smaller the lateral deviation is; the closer the longitudinal deviation ratio p2 is to zero, the smaller the longitudinal deviation is; the closer the center offset ratio p3 is to zero, the smaller the centerline offset is; Step 84, compare the lateral deviation ratio p1, the longitudinal deviation ratio p2 and the center offset ratio p3 based on the preset lateral deviation range, longitudinal deviation range and center offset range; if the lateral deviation ratio p1 does not satisfy the corresponding lateral deviation range, or the longitudinal deviation ratio p2 does not satisfy the corresponding longitudinal deviation range, or the center offset ratio p3 does not satisfy the corresponding center offset range, then use the first timestamp recorded at the parking point as a corresponding first abnormality timestamp, and set a corresponding first abnormality type as a parking posture abnormality, and form a corresponding evaluation data record composed of the first abnormality timestamp and the first abnormality type obtained this time and add it to the evaluation data queue.

9. The method for evaluating the parking performance of a vehicle according to claim 7, characterized in that: The step of identifying whether the parking posture of the vehicle on the platform side is abnormal according to the right front wheel ground contact point coordinates, the right rear wheel ground contact point coordinates, the right front door center point ground coordinates, the right rear door center point ground coordinates and the current parking position target and performing an evaluation record adding operation on the evaluation data queue when an abnormal posture is identified, specifically includes: Step 91, based on the vertex coordinates of the upper left corner of the platform outside and the vertex coordinates of the lower left corner of the platform outside of the current parking position target, the outer edge line of the current platform is confirmed to obtain the corresponding outer edge line of the platform; and the perpendicular line of the outer center point coordinates of the passenger boarding area of ​​the current parking position target to the outer edge line of the platform is recorded as the corresponding center line of the passenger boarding area; and the perpendicular line of the outer center point coordinates of the passenger drop-off area of ​​the current parking position target to the outer edge line of the platform is recorded as the corresponding center line of the passenger drop-off area; Step 92, record the horizontal vertical distance between the right front wheel contact point coordinate and the first outer edge line as the corresponding distance d8; record the horizontal vertical distance between the right rear wheel contact point coordinate and the first outer edge line as the corresponding distance d9; and record the horizontal vertical distance between the ground coordinate of the right front door center point and the first outer edge line as the corresponding distance d 10 ; and the horizontal vertical distance between the ground coordinate of the center point of the right rear door and the first outer edge line is recorded as the corresponding distance d 11 ; and the vertical distance between the ground coordinate of the center point of the right front door and the center line of the boarding area is recorded as the corresponding distance d 12 ; and the vertical distance between the ground coordinate of the center point of the right rear door and the center line of the passenger drop-off area is recorded as the corresponding distance d 13 ; Step 93, based on the preset platform stop spacing range, the spacings d8, d9, d 10 d 11 Compare; if the spacing d8, d9, d 10 d 11 If at least one of the intervals does not satisfy the platform stop interval range, the first timestamp recorded at the parking point is used as a corresponding first abnormal timestamp, and a corresponding first abnormal type is set as a parking posture abnormality, and the first abnormal timestamp and the first abnormal type obtained this time form a corresponding evaluation data record and are added to the evaluation data queue; Step 94: the distance d is adjusted based on the preset passenger boarding and discharging area offset range. 12 d 13 Compare; if the spacing d 12 d 13 If at least one of the intervals does not satisfy the offset range of the passenger boarding and disembarking area, the first timestamp recorded at the parking point is used as a corresponding first abnormality timestamp, and a corresponding first abnormality type is set as a parking posture abnormality, and the first abnormality timestamp and the first abnormality type obtained this time constitute a corresponding evaluation data record and are added to the evaluation data queue.

10. The method for evaluating the parking performance of a vehicle according to claim 2, characterized in that: The determination of whether the parking is temporary parking and obtaining a corresponding real-time determination result specifically includes: The last vehicle data record of the first record sequence is used as the corresponding parking point record; the first positioning coordinates of the parking point record are used as the corresponding current vehicle coordinates; and each of the first perception targets of the first perception target set of the parking point record whose target type is a parking space or a platform is recorded as a corresponding fifth target or sixth target; and when the number of the fifth targets is not zero, the straight-line distance between the parking space center point coordinates of each of the fifth targets and the current vehicle coordinates is calculated and the calculation result is used as a corresponding first distance; and when the number of the sixth targets is not zero, the straight-line distance between the outer center point coordinates of the boarding area of ​​each of the sixth targets and the current vehicle coordinates is calculated and the calculation result is used as a corresponding first distance; and the fifth target or the sixth target corresponding to the shortest of the first distances is used as the corresponding current target; and the target type of the current target is used as the corresponding current target type; and the current target type is identified; if the current target type is a parking space, the corresponding real-time judgment result is set to be non-temporary; if the current target type is a platform, the corresponding real-time judgment result is set to be temporary.

11. The method for evaluating the parking performance of a vehicle according to claim 2, characterized in that: The performing a parking performance evaluation according to the second record sequence to obtain the corresponding evaluation data record and storing it in the evaluation data queue specifically includes: Identify whether all the first vehicle speeds in the second record sequence are zero; if so, use the first moment as a corresponding first exception timestamp, and set a corresponding first exception type as a parking timeout exception, and the first exception timestamp and the first exception type obtained this time constitute a corresponding evaluation data record and add it to the evaluation data queue.

12. The method for evaluating the parking performance of a vehicle according to claim 2, characterized in that: The step of scoring the parking performance of the vehicle according to the evaluation data queue to obtain a corresponding first evaluation score specifically includes: The total number of each type of abnormality in the evaluation data queue is counted to obtain the corresponding total number of parking posture abnormalities, total number of reversing behavior abnormalities and total number of parking timeout abnormalities; and the abnormality type corresponding to each non-zero total number of abnormalities is recorded as a corresponding evaluation abnormality item; And based on each of the evaluation abnormal items, a preset first correspondence table is queried, and the first deduction value field of the first correspondence record that matches the first abnormal type field with each of the evaluation abnormal items in the first correspondence table is extracted as the corresponding abnormal item deduction value; and all the obtained abnormal item deduction values ​​are summed up to obtain the corresponding total deduction value; wherein, the first correspondence table is a correspondence table that reflects the correspondence between abnormal types and abnormal deduction values; the first correspondence table includes three first correspondence records; the first correspondence record includes a first abnormal type field and a first deduction value field; the first abnormal type field includes parking posture abnormality, reversing behavior abnormality and parking timeout abnormality; the first deduction value field is an integer score; And based on the preset full score and the total deduction, the corresponding first evaluation score = full score - total deduction is calculated.

13. A device for executing the processing method for evaluating the parking performance of a vehicle according to any one of claims 1 to 12, characterized in that: The device comprises: a data acquisition module, a data storage module, a parking stage recognition module, a real-time evaluation module and a score calculation module; The data storage module is respectively connected to the data acquisition module, the parking stage identification module, the real-time evaluation module and the score calculation module; the parking stage identification module is connected to the real-time evaluation module; The data acquisition module is used to connect with the vehicle-mounted system of the first vehicle during the evaluation process of the first vehicle; and collect data on the real-time perception target information, positioning information, motion information and path information output by the environment perception module, navigation positioning module, path planning module and driving control module of the vehicle-mounted system, and generate corresponding vehicle data records based on the collected data and store them in the vehicle data queue; The data storage module is used to store the vehicle data queue and the evaluation data queue; The parking stage identification module is used to, when a new record is added to the vehicle data queue, use the newly added vehicle data record as the corresponding current record; and identify whether the vehicle has entered the parking stage according to the current record to obtain a corresponding real-time identification result; the real-time identification result includes whether the vehicle has entered the parking stage or not; The real-time evaluation module is used to record the current time as the starting time when the latest real-time recognition result is that the vehicle has entered; and from the starting time, track and monitor the end time of the vehicle's current parking to obtain the corresponding end time; and extract all the vehicle data records from the vehicle data queue from the starting time to the end time to form a corresponding first record sequence; and perform a parking performance evaluation based on the first record sequence to obtain the corresponding evaluation data record and store it in the evaluation data queue; and judge whether the parking is temporary parking to obtain the corresponding real-time judgment result; if the real-time judgment result is temporary , then the two time points obtained by adding the current end time to the preset first and second time durations are recorded as the corresponding first time and second time; and when the current time reaches the second time, all the vehicle data records from the first time to the second time in the vehicle data queue are extracted to form a corresponding second record sequence; and a parking performance evaluation is performed according to the second record sequence to obtain the corresponding evaluation data record and store it in the evaluation data queue; the real-time judgment result includes temporary and non-temporary; the first time duration is the preset platform stop time threshold, the second time duration = the first time duration × a, a is the preset delay ratio parameter, a>1; The scoring calculation module is used to score the parking performance of the vehicle according to the evaluation data queue to obtain a corresponding first evaluation score when the evaluation of the first vehicle is completed.

14. An electronic device, characterized in that: include: memory, processors, and transceivers; The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method according to any one of claims 1 to 12; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a computer, the computer is enabled to execute the method according to any one of claims 1 to 12.

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