Parking control method and device, vehicle and storage medium

Abstract

The invention relates to a parking control method and device, a vehicle and a storage medium, and the method comprises the steps: when the vehicle needs to be parked to an end parking space and the vehicle runs to a parking point of the end parking space, determining a target region for enabling the vehicle to turn around outside the end parking space, and carrying out the parking control of the vehicle on the basis of the parking point and the target region; the method comprises the following steps: determining a U-turn path set corresponding to a vehicle by using a geometric programming algorithm, and determining a target U-turn path corresponding to the vehicle from the U-turn path set, thereby controlling the vehicle to run from a parking point to a target parking point according to the target U-turn path so as to complete the U-turn of the vehicle; and determining a target parking path corresponding to the vehicle by using an A star algorithm, and controlling the vehicle to drive into the end parking space from the target parking point according to the target parking path to complete parking of the vehicle. The problem that the parking time is long due to the fact that the vehicle is parked in the end parking space only through the A star algorithm is solved, and the driving experience of a user is improved.

Description

Technical Field

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

[0002] With the development of intelligent vehicles, in order to improve the user's driving experience, an automatic parking function is usually set in the vehicle. When the user needs to park, the automatic parking function in the vehicle can be used to enable the vehicle to plan a parking path for the vehicle to park in the parking space, and then control the vehicle's driving according to the parking path to complete the parking of the vehicle.

[0003] At present, most of the parking path planning is implemented using the A-star algorithm. However, for the end parking space, if the A-star algorithm is still used to plan the parking path, it will occupy a lot of computing resources and take a long time to calculate, which will make the parking time longer and affect the user's driving experience. Summary of the invention

[0004] One of the purposes of the present application is to provide a parking control method, which avoids the problem of long parking time caused by only using the A-star algorithm to park a vehicle in an end parking space, thereby improving the user's driving experience; the second purpose of the present application is to provide a parking control device; the third purpose of the present application is to provide a vehicle; the fourth purpose of the present application is to provide a storage medium.

[0005] In order to achieve the above objectives, in a first aspect, the present application provides a parking control method, comprising:

[0006] When a vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, determining a target area corresponding to the vehicle, the target area being used to realize a U-turn of the vehicle outside the terminal parking space;

[0007] Based on the stop point and the target area, a U-turn path set corresponding to the vehicle is determined by using a geometric programming algorithm, wherein all U-turn paths in the U-turn path set are located in the target area;

[0008] Determining a target U-turn path corresponding to the vehicle from the U-turn path set;

[0009] According to the target U-turn path, controlling the vehicle to travel from the stop point to a target parking point to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path;

[0010] Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm;

[0011] According to the target parking path, the vehicle is controlled to travel from the target parking point to the end parking space to complete the parking of the vehicle.

[0012] Optionally, each of the U-turn paths in the U-turn path set includes a plurality of U-turn sections;

[0013] The determining a target U-turn path corresponding to the vehicle from the U-turn path set includes:

[0014] For each of the U-turn paths in the U-turn path set, determining a U-turn time corresponding to each of the U-turn sections in the U-turn path;

[0015] Determine a target U-turn time corresponding to the U-turn path according to all the U-turn times corresponding to all the U-turn sections included in the U-turn path;

[0016] Determine the U-turn path corresponding to the minimum target U-turn time from the U-turn path set;

[0017] The U-turn path corresponding to the minimum target U-turn time is determined as the target U-turn path corresponding to the vehicle.

[0018] Optionally, the determining the U-turn time corresponding to each U-turn section in the U-turn path includes:

[0019] For each of the U-turn sections in the U-turn path, obtaining a target road type of the road where the U-turn section is located, a target road slope of the road where the U-turn section is located, a target road pothole degree of the road where the U-turn section is located, and a target vehicle type corresponding to the vehicle;

[0020] Determining a target U-turn speed of the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type;

[0021] Determine a target U-turn distance corresponding to the U-turn section;

[0022] The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

[0023] Optionally, determining a target U-turn speed of the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree and the target vehicle type includes:

[0024] Acquire a preset parameter relationship set, wherein the preset parameter relationship set includes a plurality of preset parameter relationships, and the preset parameter relationships are used to characterize a corresponding relationship between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed;

[0025] Using the preset parameter relationship set, training a preset machine learning model to obtain a target speed model;

[0026] Inputting the target road type, the target road slope, the target road pothole degree and the target vehicle type into the target speed model so that the target speed model outputs the preset U-turn speed;

[0027] Determine the preset U-turn speed output by the target speed model as the target U-turn speed of the vehicle traveling in the U-turn section; or,

[0028] Obtaining a preset U-turn speed of the vehicle traveling in the U-turn section;

[0029] Determining a target correction value of the preset U-turn speed according to the target road type, the target road slope, the target road pothole degree and the target vehicle type;

[0030] The preset U-turn speed is corrected according to the target correction value to determine a target U-turn speed for the vehicle traveling in the U-turn section.

[0031] Optionally, the target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points;

[0032] The controlling the vehicle to travel from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle includes:

[0033] According to the target U-turn path, controlling the vehicle to start traveling from the stop point;

[0034] When the vehicle reaches a U-turn point in the target U-turn path, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point;

[0035] When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle travels to the target parking point, so as to complete the U-turn of the vehicle.

[0036] Optionally, the determining the U-turn path set corresponding to the vehicle by using a geometric programming algorithm based on the stop point and the target area includes:

[0037] Taking the stop point as the starting point of the vehicle's U-turn, determining a preset U-turn trajectory corresponding to the vehicle in the target area, wherein the preset U-turn trajectory further includes a plurality of trajectory turning points and a preset parking point, and the preset parking point is the end point of the preset U-turn trajectory;

[0038] Determining a preset turning radius interval corresponding to the vehicle;

[0039] Determine, according to the stop point and the preset turning radius interval, a U-turn point set corresponding to each of the trajectory turning points in the preset U-turn trajectory and a parking point set corresponding to the preset parking point, wherein all the U-turn points in the U-turn point set and all the parking points in the parking point set are located in the target area;

[0040] According to the preset U-turn trajectory, the stop point, each of the U-turn points in the U-turn point set, and each of the parking points in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

[0041] Optionally, determining the target area corresponding to the vehicle includes:

[0042] Acquire a target lane where the vehicle is currently located, and determine an area where the target lane is located as a first area;

[0043] Acquire a target image of an area adjacent to the first area;

[0044] Determine a blank area from the target image, and determine the blank area as a second area, wherein the blank area does not include an area where the end parking space is located, and the blank area is adjacent to the first area;

[0045] The first area and the second area are spliced ​​to determine a target area corresponding to the vehicle.

[0046] In order to achieve the above objectives, in a second aspect, the present application provides a parking control device, comprising:

[0047] An area determination module, used for determining a target area corresponding to the vehicle when the vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, wherein the target area is used for realizing a U-turn of the vehicle outside the terminal parking space;

[0048] a path determination module, configured to determine a U-turn path set corresponding to the vehicle based on the stop point and the target area by using a geometric programming algorithm, wherein all U-turn paths in the U-turn path set are located within the target area;

[0049] The path determination module is used to determine the target U-turn path corresponding to the vehicle from the U-turn path set;

[0050] a control module, configured to control the vehicle to travel from the stop point to a target parking point according to the target U-turn path, so as to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path;

[0051] The path determination module is used to determine the target parking path corresponding to the vehicle using the A-star algorithm based on the target parking point;

[0052] The control module is further used to control the vehicle to travel from the target parking point to the end parking space according to the target parking path to complete the parking of the vehicle.

[0053] To achieve the above objectives, in a third aspect, the present application further provides a vehicle, comprising: a processor and a memory, wherein the processor is used to execute a parking control program stored in the memory to implement the parking control method as described above.

[0054] To achieve the above objectives, in a fourth aspect, the present application further provides a storage medium, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the parking control method as described above.

[0055] Beneficial effects of the present application: The present application provides a parking control method, when a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area for realizing a U-turn of the vehicle outside the end parking space is determined, based on the stop point and the target area, a U-turn path set corresponding to the vehicle is determined by using a geometric programming algorithm, and a target U-turn path corresponding to the vehicle is determined from the U-turn path set, so that according to the target U-turn path, the vehicle is controlled to drive from the stop point to the target parking point to complete the U-turn of the vehicle, and then based on the target parking point, a U-turn is completed by using The A-star algorithm determines the target entry path corresponding to the vehicle, and controls the vehicle to drive from the target parking point to the end parking space according to the target entry path to complete the parking of the vehicle. Therefore, when the vehicle is parked in the end parking space, the parking of the vehicle is divided into two parts. One part uses the geometric programming algorithm to realize the U-turn of the vehicle, and the other part uses the A-star algorithm to park the vehicle in the end parking space after the vehicle completes the U-turn, thereby avoiding the problem of long parking time caused by only using the A-star algorithm to park the vehicle in the end parking space, thereby improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram showing a flow chart of a parking control method provided by an embodiment of the present application;

[0057] Figure 2A schematic diagram showing a flow chart of another parking control method provided by an embodiment of the present application;

[0058] Figure 3 A schematic diagram showing a flow chart of another parking control method provided by an embodiment of the present application;

[0059] Figure 4 A schematic diagram showing an end parking space provided in an embodiment of the present application is shown;

[0060] Figure 5 A schematic diagram showing the structure of a parking control device provided by an embodiment of the present application is shown;

[0061] Figure 6 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown.

[0062] in:

[0063] 10. Area determination module; 20. Path determination module; 30. Control module;

[0064] 600, vehicle; 601, processor; 602, memory; 6021, operating system; 6022, application; 603, user interface; 604, network interface; 605, bus system. DETAILED DESCRIPTION

[0065] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0066] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0067] To facilitate understanding of the embodiments of the present application, further explanation will be given below with reference to specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation on the embodiments of the present application.

[0068] refer to Figure 1 , Figure 1A parking control method according to an embodiment of the present application is provided. The parking control method according to an embodiment of the present application comprises the following steps:

[0069] S101: When a vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, a target area corresponding to the vehicle is determined.

[0070] In this embodiment, the target area is used to realize the U-turn of the vehicle outside the terminal parking space. Figure 4 When a vehicle needs to park at a terminal parking space and the vehicle drives to the stop point of the terminal parking space, if the A-star algorithm is used to determine the parking path from the stop point to the terminal parking space, a large amount of computing power and time will be required, thereby affecting the user's driving experience. Therefore, in order to improve the user's driving experience, in this embodiment, the entire process of parking the vehicle at the terminal parking space is divided into two parts, one part is the U-turn of the vehicle outside the terminal parking space, and the other part is the vehicle parking in the terminal parking space after the U-turn.

[0071] Specifically, in order to enable the vehicle to turn around outside the end parking space, the target area corresponding to the vehicle is determined so that the vehicle can turn around in the target area. The target area is determined according to the area of ​​the lane where the vehicle is located. When determining the target area corresponding to the vehicle, an image acquisition device can be used to capture images around the vehicle, so as to determine the target area corresponding to the vehicle based on the captured images around the vehicle, and the target area is a blank area, and the target area does not include the area where the end parking space is located.

[0072] It should be noted that when the vehicle is at the stop, the front of the vehicle is close to the end parking space, and the rear of the vehicle is away from the end parking space; after the vehicle completes the U-turn, the front of the vehicle is away from the end parking space, and the rear of the vehicle is close to the end parking space. After the vehicle is parked in the end parking space, the front of the vehicle faces the road where the vehicle is located, and the rear of the vehicle is away from the road where the vehicle is located.

[0073] S102: Based on the stop point and the target area, a set of U-turn paths corresponding to the vehicle is determined using a geometric programming algorithm.

[0074] In this embodiment, all U-turn paths in the U-turn path set are located in the target area. After the target area is determined, multiple U-turn paths can be determined in the target area based on the stop point and the target area using a geometric programming algorithm to obtain a U-turn path set corresponding to the vehicle, thereby determining a U-turn path that meets the U-turn requirements of the vehicle based on the U-turn path set, and then realizing the U-turn of the vehicle in the target area according to the determined U-turn path.

[0075] S103: Determine a target U-turn path corresponding to the vehicle from the U-turn path set.

[0076] In this embodiment, in order to further improve the user's driving experience, the U-turn time of each U-turn path in the U-turn path set can be determined, so as to use the U-turn time corresponding to the U-turn path as a constraint condition, determine the target U-turn path corresponding to the vehicle from the U-turn path set, and then complete the U-turn of the vehicle outside the end parking space according to the target U-turn path.

[0077] S104: According to the target U-turn path, the vehicle is controlled to travel from the stop point to the target parking point to complete the U-turn of the vehicle.

[0078] In this embodiment, the target U-turn path includes a starting point and an end point, the stop point of the terminal parking space is the starting point, and the target parking point of the target U-turn path is the end point. After obtaining the target U-turn path, the vehicle can be controlled to start driving from the stop point according to the target U-turn path until the vehicle drives to the target parking point, thereby completing the U-turn of the vehicle outside the terminal parking space.

[0079] S105: Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm.

[0080] In this embodiment, after the vehicle completes the U-turn at the end parking space, the parking point of the vehicle in the end parking space can be determined, and the target parking point can be used as the starting point. Based on the target parking point and the parking point, the target parking path from the target parking point to the parking point is determined using the A-star algorithm.

[0081] Among them, based on the starting point of travel and the target parking point, the A-star algorithm can be used to determine multiple entry paths from the target parking point to the parking point, so as to determine the shortest entry path from the multiple entry paths, and the shortest entry path is determined as the target entry path corresponding to the vehicle.

[0082] S106: According to the target parking path, the vehicle is controlled to drive from the target parking point to the end parking space to complete the parking of the vehicle.

[0083] In this embodiment, after the target entry path is determined, the vehicle is controlled to start driving from the target parking point according to the target entry path until the vehicle drives to the parking point, so that the vehicle is parked in the terminal parking space, thereby avoiding the problem of long parking time caused by only using the A-star algorithm to park the vehicle in the terminal parking space, and improving the user's driving experience.

[0084] The present embodiment provides a parking control method. When a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area for realizing a U-turn of the vehicle outside the end parking space is determined, and a U-turn path set corresponding to the vehicle is determined by a geometric programming algorithm based on the stop point and the target area, and a target U-turn path corresponding to the vehicle is determined from the U-turn path set, so that the vehicle is controlled to drive from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle, and then a target entry path corresponding to the vehicle is determined by an A-star algorithm based on the target parking point, so that the vehicle is controlled to drive from the target parking point to the end parking space according to the target entry path to complete the parking of the vehicle, so that when the vehicle is parked at the end parking space, the parking of the vehicle is divided into two parts, one part realizes the U-turn of the vehicle by using a geometric programming algorithm, and the other part uses the A-star algorithm to park the vehicle in the end parking space after the U-turn is completed, thereby avoiding the problem of a long parking time caused by only using the A-star algorithm to park the vehicle in the end parking space, thereby improving the driving experience of the user.

[0085] refer to Figure 2 , Figure 2 A flowchart of another parking control method is provided for an embodiment of the present application. A parking control method provided in an embodiment of the present application comprises the following steps:

[0086] S201: When a vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, a target area corresponding to the vehicle is determined.

[0087] In this embodiment, in step S201, determining the target area corresponding to the vehicle specifically includes:

[0088] Obtaining a target vehicle where the current vehicle is located, and determining an area where the target lane is located as a first area;

[0089] Acquire a target image of an area adjacent to the first area;

[0090] Determine a blank area from the target image, and determine the blank area as the second area;

[0091] The first area and the second area are spliced ​​to determine the target area corresponding to the vehicle.

[0092] The blank area does not include the area where the end parking space is located. The blank area is adjacent to the first area, and the target image of the area adjacent to the first area can be acquired by the image acquisition device. Figure 4As shown, the area where the target lane is located is the dotted area. Usually, the target lane is a rectangle with a width equal to the width of the target lane and a length equal to the length of the target lane. At the same time, in order to take into account the use of the U-turn space as much as possible and to obtain the U-turn path with the shortest time as much as possible, the U-turn space is increased on the determined first area. Specifically, the target image of the area adjacent to the target lane is acquired. After the target image is acquired, the image processing technology is used to segment a blank area from the target image, and the segmented blank area is adjacent to the first area. After the blank area is obtained, the blank area is determined as the second area, and the first area and the blank area adjacent to it are spliced ​​to determine the target area corresponding to the vehicle, thereby increasing the U-turn space on the area where the target lane is located.

[0093] S202: Based on the stop point and the target area, a U-turn path set corresponding to the vehicle is determined using a geometric programming algorithm.

[0094] In this embodiment, all U-turn paths in the U-turn path set are located in the target area. In step S202, based on the stop point and the target area, a geometric programming algorithm is used to determine the U-turn path set corresponding to the vehicle, specifically including:

[0095] Taking the stop point as the starting point for the vehicle to turn around, the preset turning trajectory corresponding to the vehicle is determined in the target area;

[0096] Determine a preset turning radius interval corresponding to the vehicle;

[0097] According to the stop point and the preset turning radius interval, a U-turn point set corresponding to each turning point in the preset U-turn trajectory and a parking point set corresponding to the preset parking point are determined;

[0098] According to the preset U-turn trajectory, the stop point, each preset U-turn point in the U-turn point set, and each parking point in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

[0099] Among them, the preset parking point is the end point of the preset U-turn trajectory, and all U-turn points in the U-turn point set and all parking points in the parking point set are located in the target area. The preset U-turn trajectory and the preset turning radius interval can be set according to actual needs. In this embodiment, the preset U-turn trajectory is not specifically limited. The preset U-turn trajectory is used for the vehicle to travel along the preset U-turn trajectory, so that the vehicle turns around outside the end parking space. The preset U-turn trajectory is actually a rough U-turn path. In order to improve the user's driving experience, based on the preset U-turn trajectory, a target U-turn path that meets the vehicle's U-turn requirements is determined.

[0100] Specifically, the preset turning radius interval can be divided according to the preset interval to obtain multiple preset turning radii. The preset interval can be set according to actual needs. In this embodiment, the preset interval is not specifically limited. After obtaining the preset U-turn trajectory and multiple preset turning radii, multiple U-turn points adjacent to the stop point in the target area are determined based on the stop point and the multiple preset turning radii, and the multiple U-turn points connected to the stop point are determined as the U-turn point set corresponding to the trajectory turning point adjacent to the stop point. Starting from the U-turn point set, for each U-turn point in the U-turn point set, based on the U-turn point and the multiple preset turning radii, multiple U-turn points adjacent to the U-turn point in the target area are determined to obtain the U-turn point set corresponding to each U-turn point in the U-turn point set, and the obtained multiple U-turn point sets are determined as the U-turn point set corresponding to the trajectory turning point adjacent to the above-mentioned U-turn point. By analogy, the U-turn point set corresponding to each trajectory turning point in the preset U-turn trajectory can be obtained. After obtaining the U-turn point set corresponding to all the trajectory turning points in the preset U-turn trajectory, the U-turn point set corresponding to the trajectory turning points adjacent to the preset parking point is determined, and for each U-turn point in the determined U-turn point set, based on the U-turn point and a plurality of preset turning radii, a plurality of parking points adjacent to the U-turn point in the target area are determined, and all the determined parking points are determined as the parking point set corresponding to the preset parking point.

[0101] After obtaining a U-turn point set corresponding to each trajectory turning point in the preset U-turn trajectory and a parking point set corresponding to the preset parking point, the stop point, each U-turn point in the U-turn point set, and each parking point in the parking point set are sequentially connected according to the preset U-turn trajectory to obtain a plurality of U-turn paths, and the determined plurality of U-turn paths are determined as a U-turn path set.

[0102] It should be noted that when determining the U-turn path, one U-turn point is determined from each U-turn point set and one parking point is determined from the parking point set, so that according to the preset U-turn trajectory, the parking point, the determined U-turn points and the determined parking point are connected in sequence to obtain a U-turn path.

[0103] S203: For each U-turn path in the U-turn path set, determine a U-turn time corresponding to each U-turn section in the U-turn path.

[0104] S204: Determine a target U-turn time corresponding to the U-turn path according to all U-turn times corresponding to all U-turn sections included in the U-turn path.

[0105] S205: Determine a U-turn path corresponding to the minimum target U-turn time from the U-turn path set.

[0106] S206: Determine the U-turn path corresponding to the minimum target U-turn time as the target U-turn path corresponding to the vehicle.

[0107] With respect to the above-mentioned steps S203 to S206, each U-turn path in the U-turn path set includes a plurality of U-turn sections. In this embodiment, in order to reduce the parking time of the vehicle, the U-turn time corresponding to each U-turn section in the U-turn path set is determined. For each U-turn path in the U-turn path set, the sum of the U-turn times corresponding to all the U-turn sections included in the U-turn path is determined to obtain the target U-turn time corresponding to the U-turn path. After obtaining the target U-turn time corresponding to each U-turn path in the U-turn path set, the U-turn path corresponding to the minimum target U-turn time is determined from the U-turn path set, so that the U-turn path is used as the target U-turn path corresponding to the vehicle.

[0108] It should be noted that in order to reduce the parking distance of the vehicle and improve the user's driving experience, the U-turn distance corresponding to each U-turn path in the U-turn path set is determined, and the U-turn path corresponding to the minimum U-turn distance is determined from the U-turn path set, and the U-turn path corresponding to the minimum U-turn distance is determined as the target U-turn path corresponding to the vehicle.

[0109] In the above, determining the U-turn time corresponding to each U-turn section in the U-turn path in step S203 specifically includes:

[0110] For each U-turn section in the U-turn path, obtain a target road type of the road where the U-turn section is located, a target road slope of the road where the U-turn section is located, a target road pothole degree of the road where the U-turn section is located, and a target vehicle type corresponding to the vehicle;

[0111] Determine the target U-turn speed of the vehicle in the U-turn section according to the target road type, target road slope, target road pothole degree and target vehicle type;

[0112] Determine the target U-turn distance corresponding to the U-turn section;

[0113] The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

[0114] In order to simplify the problem, the target U-turn distance and the U-turn time corresponding to the U-turn section are assumed to be in a linear relationship, so the target U-turn speed of the vehicle traveling in the U-turn section is a fixed value. In order to determine the target U-turn speed of the vehicle traveling in the U-turn section, the external factors affecting the target U-turn speed are considered, and then the target U-turn speed corresponding to the U-turn section is determined according to the considered external factors, and then the ratio between the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section is determined as the U-turn time corresponding to the U-turn section.

[0115] Specifically, the image of the road where the vehicle is located can be obtained by an image acquisition device, and the image processing technology can be used to analyze the road image to obtain road material information, so as to compare the road material information with the preset material information corresponding to the preset road type to obtain the target road information of the road where the U-turn section is located. The preset road type can be asphalt road, cement road and dirt road. Similarly, the image of the road where the vehicle is located can be obtained by an image acquisition device, and the image processing technology can be used to analyze the road image to obtain road surface information, road height and road length, so as to compare the road surface information with the preset road surface information corresponding to the preset road pothole degree to obtain the target road pothole degree of the road where the U-turn section is located. The preset road pothole degree can be low road pothole degree, average road pothole degree and high road pothole degree. According to the ratio between the road height and the road length, the target road slope of the road where the U-turn section is located is determined. The target vehicle type includes small cars, medium cars and large cars. The target vehicle type is stored in the vehicle. When determining the U-turn time corresponding to the U-turn section, the target vehicle type corresponding to the vehicle can be obtained from the information stored in the vehicle.

[0116] In this embodiment, the target U-turn speed of the vehicle traveling in the U-turn section is determined according to the target road type, the target road slope, the target road pothole degree and the target vehicle type, specifically including:

[0117] Obtaining a preset parameter relationship set, the preset parameter relationship set including a plurality of preset parameter relationships, the preset parameter relationship being used to characterize a corresponding relationship between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed;

[0118] Using a preset parameter relationship set, training a preset machine learning model to obtain a target speed model;

[0119] Inputting a target road type, a target road slope, a target road pothole degree, and a target vehicle type into a target speed model so that the target speed model outputs a preset U-turn speed;

[0120] The preset U-turn speed output by the target speed model is determined as the target U-turn speed for the vehicle traveling in the U-turn section.

[0121] The preset machine learning model can be selected according to actual needs, and the specific form of the preset machine learning model is not limited in this embodiment. The preset machine learning model is iteratively trained through the preset parameter relationship set to obtain a target speed model for outputting a preset U-turn speed, and then the target speed model is used to determine the target U-turn speed of the vehicle traveling in the U-turn section, so as to reduce the parking time of the vehicle and ensure the comfort of the user during the parking process.

[0122] In this embodiment, determining the target U-turn speed of the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree and the target vehicle type may also include:

[0123] Obtaining a preset U-turn speed of a vehicle traveling on a U-turn section;

[0124] Determine a target correction value corresponding to a preset U-turn speed according to a target road type, a target road slope, a target road pothole degree, and a target vehicle type;

[0125] The preset U-turn speed is corrected according to the target correction value to determine the target U-turn speed for the vehicle traveling in the U-turn section.

[0126] Among them, the preset U-turn speed can be set according to actual needs, and the specific value of the preset U-turn speed is not limited in this embodiment. On the basis of reducing the parking time of the vehicle and ensuring the comfort of the user's parking process, a first corresponding relationship between the preset road type and the correction value, a second corresponding relationship between the preset road slope and the correction value, a third corresponding relationship between the preset road pothole degree and the correction value, and a fourth corresponding relationship between the preset vehicle type and the correction value are pre-set. According to the first corresponding relationship and the target road type, the first correction value corresponding to the target road type is determined, according to the second corresponding relationship and the target road slope, the second correction value corresponding to the target road slope is determined, according to the third corresponding relationship and the target road pothole degree, the third correction value corresponding to the target road pothole degree is determined, and according to the fourth corresponding relationship and the target vehicle type, the fourth correction value corresponding to the target vehicle type is determined. The sum of the first correction value, the second correction value, the third correction value and the fourth correction value is determined to obtain the target correction value. The product value between the target correction value and the preset U-turn speed is determined, so that the above product value is determined as the target U-turn speed of the vehicle traveling in the U-turn section.

[0127] S207: According to the target U-turn path, the vehicle is controlled to travel from the stop point to the target parking point to complete the U-turn of the vehicle.

[0128] In this embodiment, step S207 is consistent with the above-mentioned step S104. For details, please refer to the above-mentioned step S104, and this embodiment will not be described in detail here.

[0129] S208: Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm.

[0130] In this embodiment, the target entry path is actually the path between the target parking point and the parking point of the vehicle in the terminal parking space. When determining the target entry path, it can be achieved in the following manner.

[0131] The target parking point is used as the starting point and the parking point is used as the end point.

[0132] The map environment is converted into a graph, where each traversable square represents a node (or vertex) in the graph, and edges connect adjacent nodes. The weight of each edge can be a fixed value, such as 1 unit distance, or it can be adjusted according to the specific situation (for example, considering the existence of obstacles to increase the distance).

[0133] Define the cost function F=G+H of the A-star algorithm, where G represents the actual cost of moving from the starting point along the generated path to the specified square, H represents the estimated cost from the current grid to the end point, H is the Manhattan distance function, and two sets are defined, namely open set and closed set. The open set stores the nodes to be explored, and the closed set stores the nodes that have been explored.

[0134] Add the target parking point to the open set, initialize the cost function of the target parking point to 0, and add the target parking point to the open set.

[0135] Enter the loop: find the node with the smallest cost function in the open set, remove it from the open set, and add it to the closed set;

[0136] Determine whether the node is the end point, if not, continue;

[0137] Find all the feasible nodes connected to the node (excluding obstacle points) around it, calculate the F value (i.e. the cost function value, determined by the sum of the G value and H value of the node), G value (i.e. the actual cost of moving from the starting point along the generated path to the current feasible node) and H value (i.e. the estimated cost from the current feasible node to the end point) of each feasible node, and perform the following operations on each feasible node:

[0138] 1) If the node is unreachable or already in the closed set, ignore the node;

[0139] 2) If the node is not in the open set, add it to the open set, calculate the G value and H value of the node, and set the node as the parent node;

[0140] 3) If the node is already in the open set and the G value of reaching the node through the current node is smaller, update the G value and parent node of the node.

[0141] Each time a node is added to the open set, it is determined whether the node is the end point. If so, the shortest path has been found.

[0142] When the open set is empty, it means that the end point has not been found and the search ends.

[0143] Start from the end point and trace back along the parent node until you reach the starting point to get the shortest path (i.e. the target storage path).

[0144] S209: According to the target parking path, the vehicle is controlled to drive from the target parking point to the end parking space to complete the parking of the vehicle.

[0145] In this embodiment, step S209 is consistent with the above-mentioned step S106. For details, please refer to the above-mentioned step S106, which will not be described in detail in this embodiment.

[0146] The present embodiment provides a parking control method. When a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area for realizing a U-turn of the vehicle outside the end parking space is determined, and a U-turn path set corresponding to the vehicle is determined by a geometric programming algorithm based on the stop point and the target area, and a target U-turn path corresponding to the vehicle is determined from the U-turn path set, so that the vehicle is controlled to drive from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle, and then a target entry path corresponding to the vehicle is determined by an A-star algorithm based on the target parking point, so that the vehicle is controlled to drive from the target parking point to the end parking space according to the target entry path to complete the parking of the vehicle, so that when the vehicle is parked at the end parking space, the parking of the vehicle is divided into two parts, one part realizes the U-turn of the vehicle by using a geometric programming algorithm, and the other part uses the A-star algorithm to park the vehicle in the end parking space after the U-turn is completed, thereby avoiding the problem of a long parking time caused by only using the A-star algorithm to park the vehicle in the end parking space, thereby improving the driving experience of the user.

[0147] refer to Figure 3 , Figure 3 A parking control method provided in an embodiment of the present application includes the following steps:

[0148] S301: When a vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, a target area corresponding to the vehicle is determined.

[0149] S302: Based on the stop point and the target area, a U-turn path set corresponding to the vehicle is determined using a geometric programming algorithm.

[0150] S303: Determine a target U-turn path corresponding to the vehicle from the U-turn path set.

[0151] Regarding the above-mentioned steps S301 to S303, they are consistent with the above-mentioned ones, and the details can be referred to the above-mentioned ones, and they are not described in detail in this embodiment.

[0152] S304: Control the vehicle to start driving from the stop point according to the target U-turn path.

[0153] S305: Whenever the vehicle reaches a U-turn point in the target U-turn path, based on the U-turn point, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm.

[0154] S306: When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle reaches the target parking point to complete the U-turn of the vehicle.

[0155] With respect to the above-mentioned steps S304 to S306, the target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points. In order to make the vehicle travel as little distance as possible during the parking process, the vehicle is controlled to start driving from the stop point according to the target U-turn path. Every time the vehicle drives to a U-turn point, the U-turn point is used as the starting point and the parking point of the vehicle in the terminal parking space is used as the end point. The target parking path between the starting point and the end point is determined by the A-star algorithm, and it is judged whether the target parking path is determined within the preset number of iterations. If the target parking path is determined within the preset number of iterations, it indicates that a large number of computing resources are not occupied and the computing time is not too long. At this time, the vehicle can be controlled to drive from the above-mentioned U-turn point to the terminal parking space according to the target parking path; if the target parking path is not determined within the preset number of iterations, it indicates that using the A-star algorithm to calculate the target parking path again will occupy a large number of computing resources and the computing time will be too long. At this time, the vehicle is continued to be controlled to drive according to the target U-turn path until the vehicle drives to the target parking point to complete the U-turn of the vehicle.

[0156] It should be noted that the preset number of iterations can be set according to actual needs, and the specific value of the preset number of iterations is not specifically limited in this embodiment.

[0157] S307: Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm.

[0158] S308: According to the target parking path, the vehicle is controlled to drive from the target parking point to the end parking space to complete the parking of the vehicle.

[0159] Regarding the above-mentioned step S307 and step S308, they are consistent with the above-mentioned, and the details can be referred to the above-mentioned description, and they are not described in detail in this embodiment.

[0160] The present embodiment provides a parking control method. When a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area for realizing a U-turn of the vehicle outside the end parking space is determined, and a U-turn path set corresponding to the vehicle is determined by a geometric programming algorithm based on the stop point and the target area, and a target U-turn path corresponding to the vehicle is determined from the U-turn path set, so that the vehicle is controlled to drive from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle, and then a target entry path corresponding to the vehicle is determined by an A-star algorithm based on the target parking point, so that the vehicle is controlled to drive from the target parking point to the end parking space according to the target entry path to complete the parking of the vehicle, so that when the vehicle is parked at the end parking space, the parking of the vehicle is divided into two parts, one part realizes the U-turn of the vehicle by using a geometric programming algorithm, and the other part uses the A-star algorithm to park the vehicle in the end parking space after the U-turn is completed, thereby avoiding the problem of a long parking time caused by only using the A-star algorithm to park the vehicle in the end parking space, thereby improving the driving experience of the user.

[0161] refer to Figure 5 , Figure 5 A schematic diagram of the structure of a parking control device provided in an embodiment of the present application. A parking control device provided in an embodiment of the present application includes: an area determination module 10, a path determination module 20, and a control module 30. Among them, the area determination module 10 is used to determine the target area corresponding to the vehicle when the vehicle needs to park at the end parking space and the vehicle drives to the stop point of the end parking space, and the target area is used to realize the U-turn of the vehicle outside the end parking space; the path determination module 20 is used to determine the U-turn path set corresponding to the vehicle based on the stop point and the target area using a geometric programming algorithm, and all U-turn paths in the U-turn path set are located in the target area; the path determination module 20 is used to determine the U-turn path set from the U-turn path set. a target U-turn path corresponding to the vehicle; a control module 30, used to control the vehicle to travel from the stop point to the target parking point according to the target U-turn path, so as to complete the U-turn of the vehicle, and the target parking point is the end point of the target U-turn path; the path determination module 20, used to determine the target parking path corresponding to the vehicle by using the A-star algorithm based on the target parking point; the control module 30, further used to control the vehicle to travel from the target parking point to the end parking space according to the target parking path, so as to complete the parking of the vehicle.

[0162] In this embodiment, each of the U-turn paths in the U-turn path set includes a plurality of U-turn sections.

[0163] In this embodiment, the path determination module 20 is further used for:

[0164] For each of the U-turn paths in the U-turn path set, determining a U-turn time corresponding to each of the U-turn sections in the U-turn path;

[0165] Determine a target U-turn time corresponding to the U-turn path according to all the U-turn times corresponding to all the U-turn sections included in the U-turn path;

[0166] Determine the U-turn path corresponding to the minimum target U-turn time from the U-turn path set;

[0167] The U-turn path corresponding to the minimum target U-turn time is determined as the target U-turn path corresponding to the vehicle.

[0168] In this embodiment, the path determination module 20 is further used for:

[0169] For each of the U-turn sections in the U-turn path, obtaining a target road type of the road where the U-turn section is located, a target road slope of the road where the U-turn section is located, a target road pothole degree of the road where the U-turn section is located, and a target vehicle type corresponding to the vehicle;

[0170] Determining a target U-turn speed of the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type;

[0171] Determine a target U-turn distance corresponding to the U-turn section;

[0172] The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

[0173] In this embodiment, the path determination module 20 is further used for:

[0174] Acquire a preset parameter relationship set, wherein the preset parameter relationship set includes a plurality of preset parameter relationships, and the preset parameter relationships are used to characterize a corresponding relationship between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed;

[0175] Using the preset parameter relationship set, training a preset machine learning model to obtain a target speed model;

[0176] Inputting the target road type, the target road slope, the target road pothole degree and the target vehicle type into the target speed model so that the target speed model outputs the preset U-turn speed;

[0177] Determine the preset U-turn speed output by the target speed model as the target U-turn speed of the vehicle traveling in the U-turn section; or,

[0178] Obtaining a preset U-turn speed of the vehicle traveling in the U-turn section;

[0179] Determining a target correction value of the preset U-turn speed according to the target road type, the target road slope, the target road pothole degree and the target vehicle type;

[0180] The preset U-turn speed is corrected according to the target correction value to determine a target U-turn speed for the vehicle traveling in the U-turn section.

[0181] In this embodiment, the target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points.

[0182] In this embodiment, the control module 30 is also used for:

[0183] According to the target U-turn path, controlling the vehicle to start traveling from the stop point;

[0184] When the vehicle reaches a U-turn point in the target U-turn path, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point;

[0185] When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle travels to the target parking point, so as to complete the U-turn of the vehicle.

[0186] In this embodiment, the path determination module 20 is further used for:

[0187] Taking the stop point as the starting point of the vehicle's U-turn, determining a preset U-turn trajectory corresponding to the vehicle in the target area, wherein the preset U-turn trajectory further includes a plurality of trajectory turning points and a preset parking point, and the preset parking point is the end point of the preset U-turn trajectory;

[0188] Determining a preset turning radius interval corresponding to the vehicle;

[0189] Determine, according to the stop point and the preset turning radius interval, a U-turn point set corresponding to each of the trajectory turning points in the preset U-turn trajectory and a parking point set corresponding to the preset parking point, wherein all the U-turn points in the U-turn point set and all the parking points in the parking point set are located in the target area;

[0190] According to the preset U-turn trajectory, the stop point, each of the U-turn points in the U-turn point set, and each of the parking points in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

[0191] In this embodiment, the region determination module 10 is further used for:

[0192] Acquire a target lane where the vehicle is currently located, and determine an area where the target lane is located as a first area;

[0193] Acquire a target image of an area adjacent to the first area;

[0194] Determine a blank area from the target image, and determine the blank area as a second area, wherein the blank area does not include an area where the end parking space is located, and the blank area is adjacent to the first area;

[0195] The first area and the second area are spliced ​​to determine a target area corresponding to the vehicle.

[0196] The parking control device provided in the present embodiment determines a target area for realizing a U-turn of the vehicle outside the terminal parking space when the vehicle needs to park at the terminal parking space and the vehicle drives to the parking point of the terminal parking space, and determines a U-turn path set corresponding to the vehicle by using a geometric programming algorithm based on the parking point and the target area, and determines a target U-turn path corresponding to the vehicle from the U-turn path set, thereby controlling the vehicle to drive from the parking point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle, and then determining a target entry path corresponding to the vehicle by using an A-star algorithm based on the target parking point, and controlling the vehicle to drive from the target parking point to the terminal parking space according to the target entry path to complete the parking of the vehicle, so that when the vehicle is parked at the terminal parking space, the parking of the vehicle is divided into two parts, one part realizes the U-turn of the vehicle by using a geometric programming algorithm, and the other part uses the A-star algorithm to park the vehicle in the terminal parking space after the vehicle completes the U-turn, thereby avoiding the problem of a long parking time caused by only using the A-star algorithm to park the vehicle in the terminal parking space, thereby improving the driving experience of the user.

[0197] refer to Figure 6 As shown, Figure 6A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 600 in this embodiment may include: at least one processor 601, a vehicle memory 602, at least one network interface 604 and other user interfaces 603. The various components in the vehicle 600 are coupled together via a bus system 605. It can be understood that the bus system 605 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 605 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, various buses are labeled as bus system 605.

[0198] The user interface 603 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball, a touch pad, or a touch screen).

[0199] It can be understood that the memory 602 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 602 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0200] In some implementations, the memory 602 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system 6021 and an application program 6022 .

[0201] The operating system 6021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application 6022 includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. The program for implementing the method of the embodiment of the present application can be included in the application 6022.

[0202] In the embodiment of the present application, by calling the program or instruction stored in the memory 602, specifically, the program or instruction stored in the application 6022, the processor 601 is used to execute the method provided by each method embodiment.

[0203] The method disclosed in the above embodiment of the present application can be applied to the processor 601, or implemented by the processor 601. The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 601. The above processor 601 can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software units in the decoding processor can be executed. The software unit can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and completes the above method in combination with its hardware.

[0204] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or at least one application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing vehicle (DSPDevice, DSPD), programmable logic vehicle (PLD), field programmable gate array (FPGA), general purpose processor, controller, microcontroller, microprocessor, other electronic unit for performing the functions described in the present application, or a combination thereof.

[0205] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0206] The embodiment of the present application also provides a storage medium (computer-readable storage medium). The storage medium here stores one or at least one program. The storage medium may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid-state drive; the memory may also include a combination of the above-mentioned types of memory.

[0207] When one or at least one program in the storage medium can be executed by one or at least one processor. When the storage medium is applied to a vehicle, the above-mentioned method executed in the vehicle can be implemented. The processor is used to execute the vehicle program stored in the memory to implement the above-mentioned method executed in the vehicle.

[0208] The professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with 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 terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel 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 this application.

[0209] It should be noted that the phrases "one implementation", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0210] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method or article including a series of elements may include not only those elements, but also other elements not explicitly listed, or may also include elements inherent to such process, method, article or vehicle. In the absence of more limitations, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or vehicle including the elements.

[0211] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A parking control method, characterized in that: include: When a vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, determining a target area corresponding to the vehicle, the target area being used to realize a U-turn of the vehicle outside the terminal parking space; Based on the stop point and the target area, a U-turn path set corresponding to the vehicle is determined by using a geometric programming algorithm, wherein all U-turn paths in the U-turn path set are located in the target area; Determining a target U-turn path corresponding to the vehicle from the U-turn path set; According to the target U-turn path, controlling the vehicle to travel from the stop point to a target parking point to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path; Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm; According to the target parking path, the vehicle is controlled to travel from the target parking point to the end parking space to complete the parking of the vehicle.

2. The parking control method according to claim 1, characterized in that: Each of the U-turn paths in the U-turn path set includes a plurality of U-turn sections; The determining a target U-turn path corresponding to the vehicle from the U-turn path set includes: For each of the U-turn paths in the U-turn path set, determining a U-turn time corresponding to each of the U-turn sections in the U-turn path; Determine a target U-turn time corresponding to the U-turn path according to all the U-turn times corresponding to all the U-turn sections included in the U-turn path; Determine the U-turn path corresponding to the minimum target U-turn time from the U-turn path set; The U-turn path corresponding to the minimum target U-turn time is determined as the target U-turn path corresponding to the vehicle.

3. The parking control method according to claim 2, characterized in that: The determining the U-turn time corresponding to each U-turn section in the U-turn path includes: For each of the U-turn sections in the U-turn path, obtaining a target road type of the road where the U-turn section is located, a target road slope of the road where the U-turn section is located, a target road pothole degree of the road where the U-turn section is located, and a target vehicle type corresponding to the vehicle; Determining a target U-turn speed of the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type; Determine a target U-turn distance corresponding to the U-turn section; The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

4. The parking control method according to claim 3, characterized in that: The step of determining a target U-turn speed of the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type includes: Acquire a preset parameter relationship set, wherein the preset parameter relationship set includes a plurality of preset parameter relationships, and the preset parameter relationships are used to characterize a corresponding relationship between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed; Using the preset parameter relationship set, training a preset machine learning model to obtain a target speed model; Inputting the target road type, the target road slope, the target road pothole degree and the target vehicle type into the target speed model so that the target speed model outputs the preset U-turn speed; Determine the preset U-turn speed output by the target speed model as the target U-turn speed of the vehicle traveling in the U-turn section; or, Obtaining a preset U-turn speed of the vehicle traveling in the U-turn section; Determining a target correction value of the preset U-turn speed according to the target road type, the target road slope, the target road pothole degree and the target vehicle type; The preset U-turn speed is corrected according to the target correction value to determine a target U-turn speed for the vehicle traveling in the U-turn section.

5. The parking control method according to claim 1, characterized in that: The target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points; The controlling the vehicle to travel from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle includes: According to the target U-turn path, controlling the vehicle to start traveling from the stop point; When the vehicle reaches a U-turn point in the target U-turn path, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point; When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle travels to the target parking point, so as to complete the U-turn of the vehicle.

6. The parking control method according to claim 1, characterized in that: The determining of a U-turn path set corresponding to the vehicle by using a geometric programming algorithm based on the stop point and the target area includes: Taking the stop point as the starting point of the vehicle's U-turn, determining a preset U-turn trajectory corresponding to the vehicle in the target area, wherein the preset U-turn trajectory further includes a plurality of trajectory turning points and a preset parking point, and the preset parking point is the end point of the preset U-turn trajectory; Determining a preset turning radius interval corresponding to the vehicle; Determine, according to the stop point and the preset turning radius interval, a U-turn point set corresponding to each of the trajectory turning points in the preset U-turn trajectory and a parking point set corresponding to the preset parking point, wherein all the U-turn points in the U-turn point set and all the parking points in the parking point set are located in the target area; According to the preset U-turn trajectory, the stop point, each of the U-turn points in the U-turn point set, and each of the parking points in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

7. The parking control method according to claim 1, characterized in that: The determining the target area corresponding to the vehicle includes: Acquire a target lane where the vehicle is currently located, and determine an area where the target lane is located as a first area; Acquire a target image of an area adjacent to the first area; Determine a blank area from the target image, and determine the blank area as a second area, wherein the blank area does not include an area where the end parking space is located, and the blank area is adjacent to the first area; The first area and the second area are spliced ​​to determine a target area corresponding to the vehicle.

8. A parking control device, characterized in that: include: An area determination module, used for determining a target area corresponding to the vehicle when the vehicle needs to park at a terminal parking space and the vehicle drives to a stop point of the terminal parking space, wherein the target area is used for realizing a U-turn of the vehicle outside the terminal parking space; a path determination module, configured to determine a U-turn path set corresponding to the vehicle based on the stop point and the target area by using a geometric programming algorithm, wherein all U-turn paths in the U-turn path set are located within the target area; The path determination module is used to determine the target U-turn path corresponding to the vehicle from the U-turn path set; a control module, configured to control the vehicle to travel from the stop point to a target parking point according to the target U-turn path, so as to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path; The path determination module is used to determine the target parking path corresponding to the vehicle using the A-star algorithm based on the target parking point; The control module is further used to control the vehicle to travel from the target parking point to the end parking space according to the target parking path to complete the parking of the vehicle.

9. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is used to execute a parking control program stored in the memory to implement the parking control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the parking control method of any one of claims 1 to 7.

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