Parking method, device and equipment based on satellite signals and storage medium

Abstract

The invention discloses a parking method, device and equipment based on a satellite signal and a storage medium, and relates to the field of automatic parking assistion.The parking method comprises the steps that the satellite signal of a target area where a parking space is located is obtained, and a parking scene is obtained according to the strength of the satellite signal; wherein the parking scene comprises any one of an indoor parking scene and an outdoor parking scene; according to preset calibration parameters corresponding to the parking scene, in combination with vehicle calibration information of a to-be-parked vehicle, the parking width outside a parking space is determined; wherein the vehicle calibration information comprises the vehicle length, the vehicle width and the vehicle minimum turning radius; and according to the parking scene and the parking width outside the parking space, a parking strategy is determined, and according to the parking strategy, a to-be-parked vehicle is controlled to be parked to a to-be-parked space. The parking scenes of the horizontal parking spaces can be effectively distinguished, different parking strategies are selected according to different parking scenes, and the parking reasonability is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic parking assistance, and in particular to a parking method, device, equipment and storage medium based on satellite signals. Background Art

[0002] Since the first car came out, cars have been developing towards automation, electrification and intelligence, and smart parking is a representative of intelligence. For smart parking assistance systems, parking efficiency is one of the important measurement indicators, and factors that affect parking efficiency include parking space, vehicle size, vehicle turning radius, and the size of the vehicle's passable area. Generally speaking, the larger the vehicle's passable area, the higher the parking efficiency. Therefore, smart parking generally adopts a parking strategy that calibrates a larger vehicle's passable area.

[0003] However, at present, horizontal parking spaces in China are generally distributed on both sides of public roads or in indoor parking lots. The vehicle-accessible area of ​​the horizontal parking spaces on both sides of public roads is small, and some of them belong to driving lanes. The application of a parking strategy with a larger calibration to this scene will have certain safety hazards. There is no effective parking strategy for this scene in the prior art. At the same time, based on the above background, it is necessary to reasonably identify and distinguish the scenes where horizontal parking spaces are located as the sides of public roads or indoor parking lots, and adjust the parking strategy in time. The existing horizontal parking method has not effectively solved this technical dilemma. Therefore, how to reasonably distinguish different scenes of horizontal parking and obtain different parking strategies to improve the rationality of parking in horizontal parking spaces is a difficult problem that still needs to be solved in the prior art. Summary of the invention

[0004] The present application provides a parking method, device, equipment and storage medium based on satellite signals to solve the technical problem that the prior art fails to distinguish between horizontal parking spaces, resulting in unreasonable parking.

[0005] According to a first aspect of an embodiment of the present application, a parking method based on satellite signals is provided, comprising:

[0006] Acquire a satellite signal of a target area where the parking space to be parked is located, and obtain a parking scene according to the strength of the satellite signal; wherein the parking scene includes any one of an indoor parking scene and an outdoor parking scene;

[0007] Determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked; wherein the vehicle calibration information includes the vehicle length, the vehicle width and the minimum turning radius of the vehicle;

[0008] A parking strategy is determined according to the parking scenario and the parking width outside the parking space, and the vehicle to be parked is controlled to be parked in the parking space according to the parking strategy.

[0009] The present application first determines the parking scenario according to the strength of the satellite signal of the target area where the parking space is located. It can simply and effectively distinguish and determine the parking scenario according to the strength of the satellite signal, and then determine the parking width outside the parking space according to the calibration parameters corresponding to the parking scenario and the vehicle calibration information of the vehicle to be parked, and then determine the parking strategy and perform parking. Different parking strategies can be selected according to different parking scenarios, thereby improving the rationality of parking.

[0010] In certain embodiments of the present application, obtaining a parking scene according to the strength of the satellite signal specifically includes:

[0011] If the strength of the satellite signal is not greater than a preset signal strength threshold, the parking scene is an indoor parking scene;

[0012] If the strength of the satellite signal is greater than the signal strength threshold, the parking scene is an outdoor parking scene.

[0013] The present application determines whether the parking scene is an indoor parking scene or an outdoor parking scene based on the relationship between the strength of the satellite signal and the signal strength threshold. It can simply and effectively distinguish and judge different parking scenes, so as to obtain a more matching parking strategy according to different parking scenes, thereby improving the rationality of parking.

[0014] In certain embodiments of the present application, the determining of the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene in combination with the vehicle calibration information of the vehicle to be parked specifically includes:

[0015] L = k 1 a+k 2 bk 3 r;

[0016] Where L is the width of the parking space, a, b, and r are the length, width, and minimum turning radius of the vehicle to be parked, respectively. 1 , k 2 , k 3 These are the calibration parameters corresponding to the parking scenario.

[0017] The present application calculates the parking width outside the parking space based on the vehicle calibration information of the vehicle length, vehicle width and minimum turning radius of the vehicle to be parked, combined with the calibration parameters, and can more comprehensively and reasonably consider the impact of the calibration information of different parts of the vehicle on the parking width outside the parking space, and then obtain a more reasonable parking width outside the parking space, so that the parking strategy obtained according to the parking width outside the parking space is more reasonable, thereby improving the rationality of parking.

[0018] In certain embodiments of the present application, the determining of the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene in combination with the vehicle calibration information of the vehicle to be parked specifically includes:

[0019] If the parking scene is an indoor parking scene, the parking width outside the parking space is determined according to the preset first calibration parameter and the vehicle calibration information of the vehicle to be parked;

[0020] If the parking scene is an outdoor parking scene, the parking width outside the parking space is determined according to a preset second calibration parameter combined with vehicle calibration information of the vehicle to be parked; wherein the first calibration parameter is greater than the second calibration parameter.

[0021] The present application obtains a first calibration parameter and a second calibration parameter according to different parking scenarios, and the first calibration parameter is greater than the second calibration parameter, thereby obtaining different parking widths outside the parking space. According to different parking requirements corresponding to different parking scenarios, a more reasonable parking width outside the parking space can be solved and set, thereby making the parking strategy obtained according to the parking width outside the parking space more reasonable and improving the rationality of parking.

[0022] In certain embodiments of the present application, determining a parking strategy according to the parking scenario and the parking width outside the parking space specifically includes:

[0023] If the parking scene is an outdoor parking scene, an environment image of the target area is acquired, and an outdoor parking sub-scene is obtained according to the environment image; wherein the outdoor parking sub-scene includes any one of a curb scene and a non-curb scene;

[0024] A parking strategy is determined according to the outdoor parking sub-scenario.

[0025] In the case of an outdoor parking scenario, the present application acquires an environmental image of a target area, and then obtains an outdoor parking sub-scene, thereby determining a parking strategy. Different outdoor parking strategies can be determined according to different outdoor parking sub-scenes, further improving the rationality of outdoor parking.

[0026] In certain embodiments of the present application, obtaining an outdoor parking sub-scene according to the environment image specifically includes:

[0027] Identify the environment image to obtain a target identification list;

[0028] If the target recognition list includes a first target, the outdoor parking sub-scene is a curb scene; wherein the first target includes any one or more of a shoulder, a wall, a road column, and a road guardrail;

[0029] If the target recognition list does not include the first target, the outdoor parking sub-scene is a non-roadside scene.

[0030] The present application first identifies the environmental image to obtain a target recognition list, and determines whether the outdoor parking sub-scene is a curb scene or a non-curb scene based on the inclusion relationship between the target recognition list and the first target. This can simply and effectively distinguish and judge different outdoor parking sub-scenes, thereby obtaining a more matching outdoor parking strategy based on different outdoor parking sub-scenes, thereby improving the rationality of outdoor parking.

[0031] In certain embodiments of the present application, determining a parking strategy according to the outdoor parking sub-scenario specifically includes:

[0032] If the outdoor parking sub-scene is a curb scene, a first distance between the first target and the parking space to be parked is identified, and a parking strategy is determined based on the first distance and the parking width outside the parking space.

[0033] In the case of a curb scene, the present application determines a parking strategy based on the first distance between the first target and the parking space to be parked, combined with the parking width outside the parking space, and can obtain a parking strategy that is more suitable for the parking needs of the curb scene, thereby improving the rationality of parking in the curb scene.

[0034] According to a second aspect of the implementation of the present application, there is provided a parking device based on satellite signals, comprising a parking scene determination module, a parking width determination module and a parking strategy execution module;

[0035] The parking scene determination module is used to obtain a satellite signal of a target area where a parking space is located, and obtain a parking scene according to the strength of the satellite signal; wherein the parking scene includes any one of an indoor parking scene and an outdoor parking scene;

[0036] The parking width determination module is used to determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked; wherein the vehicle calibration information includes the vehicle length, the vehicle width and the minimum turning radius of the vehicle;

[0037] The parking strategy execution module is used to determine a parking strategy according to the parking scenario and the parking width outside the parking space, and control the vehicle to be parked to park in the parking space according to the parking strategy.

[0038] In certain embodiments of the present application, the parking scene determination module includes an indoor scene determination unit and an outdoor scene determination unit;

[0039] The indoor scene determination unit is configured to determine that the parking scene is an indoor parking scene if the strength of the satellite signal is not greater than a preset signal strength threshold;

[0040] The outdoor scene determination unit is configured to determine that the parking scene is an outdoor parking scene if the strength of the satellite signal is greater than the signal strength threshold.

[0041] In certain embodiments of the present application, the parking width determination module is used to determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked, specifically:

[0042] L = k 1 a+k 2 bk 3 r;

[0043] Where L is the width of the parking space, a, b, and r are the length, width, and minimum turning radius of the vehicle to be parked, respectively. 1 , k 2 , k 3 These are the calibration parameters corresponding to the parking scenario.

[0044] In certain embodiments of the present application, the parking width determination module includes an indoor parking width determination unit and an outdoor parking width determination unit;

[0045] The indoor parking width determination unit is used to determine the parking width outside the parking space according to a preset first calibration parameter and in combination with the vehicle calibration information of the vehicle to be parked if the parking scene is an indoor parking scene;

[0046] The outdoor parking width determination unit is used to determine the parking width outside the parking space according to a preset second calibration parameter and vehicle calibration information of the vehicle to be parked if the parking scene is an outdoor parking scene; wherein the first calibration parameter is greater than the second calibration parameter.

[0047] In certain embodiments of the present application, the parking strategy execution module includes an outdoor parking sub-scenario determination unit and an outdoor parking strategy determination unit;

[0048] The outdoor parking sub-scene determination unit is configured to obtain an environment image of the target area if the parking scene is an outdoor parking scene, and obtain an outdoor parking sub-scene according to the environment image; wherein the outdoor parking sub-scene includes any one of a curb scene and a non-curb scene;

[0049] The outdoor parking strategy determination unit is configured to determine a parking strategy according to the outdoor parking sub-scenario.

[0050] In certain embodiments of the present application, the outdoor parking sub-scene determination unit includes an environment image recognition sub-unit, a roadside scene determination sub-unit, and a non-roadside scene determination sub-unit;

[0051] The environmental image recognition subunit is used to recognize the environmental image to obtain a target recognition list;

[0052] The curb scene determination subunit is configured to determine that if the target recognition list includes a first target, the outdoor parking subscene is a curb scene; wherein the first target includes any one or more of a shoulder, a wall, a road column, and a road guardrail;

[0053] The non-roadside scene determination subunit is used to determine that the outdoor parking sub-scene is a non-roadside scene if the target recognition list does not include the first target.

[0054] In certain embodiments of the present application, the outdoor parking strategy determination unit includes a curb parking strategy determination component;

[0055] The curb parking strategy determination component is used to identify a first distance between the first target and the parking space if the outdoor parking sub-scene is a curb scene, and determine a parking strategy based on the first distance and the parking width outside the parking space.

[0056] The present application first determines the parking scenario according to the strength of the satellite signal of the target area where the parking space is located. It can simply and effectively distinguish and determine the parking scenario according to the strength of the satellite signal, and then determine the parking width outside the parking space according to the calibration parameters corresponding to the parking scenario and the vehicle calibration information of the vehicle to be parked, and then determine the parking strategy and perform parking. Different parking strategies can be selected according to different parking scenarios, thereby improving the rationality of parking.

[0057] According to a third aspect of the implementation manner of the present application, a computer device is provided, comprising: a processor; a memory; a computer program stored in the memory and configured to be executed by the processor; wherein when the processor executes the computer program, a parking method based on satellite signals described in the present application is implemented.

[0058] According to a fourth aspect of the implementation of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for loading by a processor to execute a parking method based on satellite signals described in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 : A schematic diagram of a parking method based on satellite signals according to certain embodiments of the present application;

[0060] Figure 2 : A module structure diagram of a parking device based on satellite signals shown in certain embodiments of the present application. DETAILED DESCRIPTION

[0061] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below in conjunction with the accompanying drawings are exemplary and are only used to explain some embodiments of the present application, and should not be construed as limitations on the embodiments of the present application. Based on the embodiments shown in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0062] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, unless otherwise clearly and specifically defined, "multiple" and "several" mean two or more.

[0063] Existing horizontal parking spaces are generally distributed on both sides of public roads or in indoor parking lots. The vehicle passable area of ​​the horizontal parking spaces on both sides of public roads is small, and some of them belong to driving lanes. However, the existing intelligent parking methods generally choose parking strategies that mark larger vehicle passable areas. There are certain safety hazards when applied to the scenarios of horizontal parking spaces on both sides of public roads, and there is no effective parking strategy in the prior art. However, there are no corresponding safety hazards in the scenarios of horizontal parking spaces in indoor parking lots. Therefore, it is necessary not only to select new parking strategies for the scenarios of horizontal parking spaces on both sides of public roads, but also to make reasonable judgments and distinctions on whether the scenarios of horizontal parking spaces are on both sides of public roads or in indoor parking lots, so as to obtain different parking strategies to improve the rationality of parking in horizontal parking spaces.

[0064] Based on the above technical background, please refer to Figure 1 The present application embodiment provides a parking method based on satellite signals, including steps S101 to S103, each of which is as follows:

[0065] Step S101: obtaining a satellite signal of a target area where a parking space is located, and obtaining a parking scene according to the strength of the satellite signal; wherein the parking scene includes any one of an indoor parking scene and an outdoor parking scene.

[0066] In certain embodiments of the present application, the satellite signal is specifically acquired through a global satellite navigation system (GNSS, Global Navigation Satellite System), including but not limited to acquisition through a GPS system, acquisition through a Galileo system, acquisition through a GLONASS system, and acquisition through a Beidou satellite navigation system. A preferred embodiment is acquisition through a GPS system. Exemplarily, a GPS module that can receive satellite signals sent by a GPS system is installed on the vehicle to be parked. When the vehicle to be parked enters the target area where the parking space is located, the GPS module is controlled to acquire the satellite signal sent by the GPS system, and then the strength of the satellite signal is read to obtain a parking scene.

[0067] In certain embodiments of the present application, obtaining a parking scene according to the strength of the satellite signal specifically includes:

[0068] If the strength of the satellite signal is not greater than a preset signal strength threshold, the parking scene is an indoor parking scene;

[0069] If the strength of the satellite signal is greater than the signal strength threshold, the parking scene is an outdoor parking scene.

[0070] The reason for considering distinguishing parking scenes by the strength of satellite signals is that satellite signals are radio waves transmitted by satellites, which are easily blocked or reflected by walls and cannot enter indoors smoothly, resulting in indoor satellite signals being weaker than outdoor satellite signals. Therefore, parking scenes can be distinguished by the strength of satellite signals.

[0071] In certain embodiments of the present application, the signal strength threshold needs to be calibrated in advance. One implementation method of calibrating the signal strength threshold is as follows: determining multiple indoor parking locations and multiple outdoor parking locations based on the area where the vehicle to be parked is located; measuring the satellite signals received by the vehicle to be parked at the multiple indoor parking locations and the multiple outdoor parking locations, respectively, to obtain multiple satellite signal strength values, and calibrating the signal strength threshold based on the multiple satellite signal strength values.

[0072] The present application determines whether the parking scene is an indoor parking scene or an outdoor parking scene based on the relationship between the strength of the satellite signal and the signal strength threshold. It can simply and effectively distinguish and judge different parking scenes, so as to obtain a more matching parking strategy according to different parking scenes, thereby improving the rationality of parking.

[0073] Step S102: determining the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked; wherein the vehicle calibration information includes the vehicle length, the vehicle width and the minimum turning radius of the vehicle.

[0074] In certain embodiments of the present application, the determining of the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene in combination with the vehicle calibration information of the vehicle to be parked specifically includes:

[0075] L = k 1 a+k 2 bk 3 r;

[0076] Where L is the width of the parking space, a, b, and r are the length, width, and minimum turning radius of the vehicle to be parked, respectively. 1 , k 2 , k 3 These are the calibration parameters corresponding to the parking scenario.

[0077] The present application calculates the parking width outside the parking space based on the vehicle calibration information of the vehicle length, vehicle width and minimum turning radius of the vehicle to be parked, combined with the calibration parameters, and can more comprehensively and reasonably consider the impact of the calibration information of different parts of the vehicle on the parking width outside the parking space, and then obtain a more reasonable parking width outside the parking space, so that the parking strategy obtained according to the parking width outside the parking space is more reasonable, thereby improving the rationality of parking.

[0078] In certain embodiments of the present application, the determining of the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene in combination with the vehicle calibration information of the vehicle to be parked specifically includes:

[0079] If the parking scene is an indoor parking scene, the parking width outside the parking space is determined according to the preset first calibration parameter and the vehicle calibration information of the vehicle to be parked;

[0080] If the parking scene is an outdoor parking scene, the parking width outside the parking space is determined according to a preset second calibration parameter combined with vehicle calibration information of the vehicle to be parked; wherein the first calibration parameter is greater than the second calibration parameter.

[0081] The reason for considering setting the first calibration parameter greater than the second calibration parameter is that in the indoor parking scenario of the horizontal parking space, that is, in the indoor parking lot, the vehicle passable area is generally fixed and relatively larger. By selecting a parking strategy with a larger vehicle passable area that is similar to the existing parking, the parking efficiency of the indoor parking scenario can be guaranteed; while in the outdoor parking scenario of the horizontal parking space, that is, on both sides of the public road, part of the vehicle passable area includes the driving lane, resulting in the actual passable area to change and be relatively small. By setting the second calibration parameter smaller than the first calibration parameter of the indoor parking scenario, it can be ensured that the situation of occupying the driving lane in the outdoor parking scenario is reduced, the probability of unsafe situations is reduced, and the safety of the vehicle is guaranteed.

[0082] Specifically, the parking width outside the parking space corresponding to the first calibration parameter ensures that the probability that the vehicle to be parked can park in a standard horizontal parking space ≤3 times is ≥80%, and the parking success rate is ≥95%; the parking width outside the parking space corresponding to the second calibration parameter ensures that the probability that the vehicle to be parked can park in a standard horizontal parking space ≤5 times is ≥70%, and the parking success rate is ≥80%.

[0083] The present application obtains a first calibration parameter and a second calibration parameter according to different parking scenarios, and the first calibration parameter is greater than the second calibration parameter, thereby obtaining different parking widths outside the parking space. According to different parking requirements corresponding to different parking scenarios, a more reasonable parking width outside the parking space can be solved and set, thereby making the parking strategy obtained according to the parking width outside the parking space more reasonable and improving the rationality of parking.

[0084] Step S103: determining a parking strategy according to the parking scenario and the parking width outside the parking space, and controlling the vehicle to be parked to park in the parking space according to the parking strategy.

[0085] In certain embodiments of the present application, determining a parking strategy according to the parking scenario and the parking width outside the parking space specifically includes:

[0086] If the parking scene is an outdoor parking scene, an environment image of the target area is acquired, and an outdoor parking sub-scene is obtained according to the environment image; wherein the outdoor parking sub-scene includes any one of a curb scene and a non-curb scene;

[0087] A parking strategy is determined according to the outdoor parking sub-scenario.

[0088] In the case of an outdoor parking scenario, the present application acquires an environmental image of a target area, and then obtains an outdoor parking sub-scene, thereby determining a parking strategy. Different outdoor parking strategies can be determined according to different outdoor parking sub-scenes, further improving the rationality of outdoor parking.

[0089] In certain embodiments of the present application, obtaining an outdoor parking sub-scene according to the environment image specifically includes:

[0090] Identify the environment image to obtain a target identification list;

[0091] If the target recognition list includes a first target, the outdoor parking sub-scene is a curb scene; wherein the first target includes any one or more of a shoulder, a wall, a road column, and a road guardrail;

[0092] If the target recognition list does not include the first target, the outdoor parking sub-scene is a non-roadside scene.

[0093] In certain embodiments of the present application, identifying the environment image to obtain a target recognition list is specifically completed based on a target recognition or target detection model, including but not limited to a Faster R-CNN model, an SSD model, and a YOLO series model, and a preferred implementation is a Faster R-CNN model.

[0094] Considering the recognition of outdoor parking scenes in horizontal parking spaces is because the first target, including the shoulder, wall, road column or road guardrail, will increase the probability of parking scratches, thereby reducing the safety of the vehicle. Therefore, it is necessary to identify the first target and distinguish the scenes according to the first target, and then select different outdoor parking strategies, so as to reduce the scratches with vehicles and pedestrians on the driving lane in non-roadside scenes, and reduce the scratches with the first target in roadside scenes, so as to further improve the safety of the vehicle.

[0095] The present application first identifies the environmental image to obtain a target recognition list, and determines whether the outdoor parking sub-scene is a curb scene or a non-curb scene based on the inclusion relationship between the target recognition list and the first target. This can simply and effectively distinguish and judge different outdoor parking sub-scenes, thereby obtaining a more matching outdoor parking strategy based on different outdoor parking sub-scenes, thereby improving the rationality of outdoor parking.

[0096] In certain embodiments of the present application, determining a parking strategy according to the outdoor parking sub-scenario specifically includes:

[0097] If the outdoor parking sub-scene is a curb scene, a first distance between the first target and the parking space to be parked is identified, and a parking strategy is determined based on the first distance and the parking width outside the parking space.

[0098] In certain embodiments of the present application, identifying the first distance between the first target and the parking space to be parked is specifically completed based on a target recognition or target detection model, including but not limited to a Faster R-CNN model, an SSD model, and a YOLO series model, and a preferred implementation is the Faster R-CNN model.

[0099] Specifically, the first distance in the curb scene and the parking width outside the parking space ensure that after the vehicle to be parked is parked, the distance between the front wheel and the first target and the distance between the rear wheel and the first target close to the first target side of the vehicle to be parked are both within the first target range, and the preferred value range of the first target range is [5, 30], in cm.

[0100] In the case of a curb scene, the present application determines a parking strategy based on the first distance between the first target and the parking space to be parked, combined with the parking width outside the parking space, and can obtain a parking strategy that is more suitable for the parking needs of the curb scene, thereby improving the rationality of parking in the curb scene.

[0101] Compared with the prior art, the present application first determines the parking scenario according to the strength of the satellite signal of the target area where the parking space is located. It can simply and effectively distinguish and determine the parking scenario according to the strength of the satellite signal, and then determine the parking width outside the parking space according to the calibration parameters corresponding to the parking scenario and the vehicle calibration information of the vehicle to be parked, and then determine the parking strategy and perform parking. Different parking strategies can be selected according to different parking scenarios, thereby improving the rationality of parking.

[0102] Corresponding to the previous method, see Figure 2 , the embodiment of the present application provides a parking device based on satellite signals, including a parking scene determination module 210, a parking width determination module 220 and a parking strategy execution module 230;

[0103] The parking scene determination module 210 is used to obtain a satellite signal of a target area where a parking space is located, and obtain a parking scene according to the strength of the satellite signal; wherein the parking scene includes any one of an indoor parking scene and an outdoor parking scene;

[0104] The parking width determination module 220 is used to determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked; wherein the vehicle calibration information includes the vehicle length, the vehicle width and the minimum turning radius of the vehicle;

[0105] The parking strategy execution module 230 is used to determine a parking strategy according to the parking scenario and the parking width outside the parking space, and control the vehicle to be parked to park in the parking space according to the parking strategy.

[0106] In certain embodiments of the present application, the parking scene determination module 210 includes an indoor scene determination unit and an outdoor scene determination unit;

[0107] The indoor scene determination unit is configured to determine that the parking scene is an indoor parking scene if the strength of the satellite signal is not greater than a preset signal strength threshold;

[0108] The outdoor scene determination unit is configured to determine that the parking scene is an outdoor parking scene if the strength of the satellite signal is greater than the signal strength threshold.

[0109] In certain embodiments of the present application, the parking width determination module 220 is used to determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked, specifically:

[0110] L = k 1 a+k 2 bk 3 r;

[0111] Where L is the width of the parking space, a, b, and r are the length, width, and minimum turning radius of the vehicle to be parked, respectively. 1 , k 2 , k 3 These are the calibration parameters corresponding to the parking scenario.

[0112] In certain embodiments of the present application, the parking width determination module 220 includes an indoor parking width determination unit and an outdoor parking width determination unit;

[0113] The indoor parking width determination unit is used to determine the parking width outside the parking space according to a preset first calibration parameter and in combination with the vehicle calibration information of the vehicle to be parked if the parking scene is an indoor parking scene;

[0114] The outdoor parking width determination unit is used to determine the parking width outside the parking space according to a preset second calibration parameter and vehicle calibration information of the vehicle to be parked if the parking scene is an outdoor parking scene; wherein the first calibration parameter is greater than the second calibration parameter.

[0115] In certain embodiments of the present application, the parking strategy execution module 230 includes an outdoor parking sub-scenario determination unit and an outdoor parking strategy determination unit;

[0116] The outdoor parking sub-scene determination unit is configured to obtain an environment image of the target area if the parking scene is an outdoor parking scene, and obtain an outdoor parking sub-scene according to the environment image; wherein the outdoor parking sub-scene includes any one of a curb scene and a non-curb scene;

[0117] The outdoor parking strategy determination unit is configured to determine a parking strategy according to the outdoor parking sub-scenario.

[0118] In certain embodiments of the present application, the outdoor parking sub-scene determination unit includes an environment image recognition sub-unit, a roadside scene determination sub-unit, and a non-roadside scene determination sub-unit;

[0119] The environmental image recognition subunit is used to recognize the environmental image to obtain a target recognition list;

[0120] The curb scene determination subunit is configured to determine that if the target recognition list includes a first target, the outdoor parking subscene is a curb scene; wherein the first target includes any one or more of a shoulder, a wall, a road column, and a road guardrail;

[0121] The non-roadside scene determination subunit is used to determine that the outdoor parking sub-scene is a non-roadside scene if the target recognition list does not include the first target.

[0122] In certain embodiments of the present application, the outdoor parking strategy determination unit includes a curb parking strategy determination component;

[0123] The curb parking strategy determination component is used to identify a first distance between the first target and the parking space if the outdoor parking sub-scene is a curb scene, and determine a parking strategy based on the first distance and the parking width outside the parking space.

[0124] The present application first determines the parking scenario according to the strength of the satellite signal of the target area where the parking space is located. It can simply and effectively distinguish and determine the parking scenario according to the strength of the satellite signal, and then determine the parking width outside the parking space according to the calibration parameters corresponding to the parking scenario and the vehicle calibration information of the vehicle to be parked, and then determine the parking strategy and perform parking. Different parking strategies can be selected according to different parking scenarios, thereby improving the rationality of parking.

[0125] It should be understood that the device provided in the embodiments of the present application corresponds to the aforementioned method, and a parking device based on satellite signals provided in the embodiments of the present application can implement a parking method based on satellite signals provided in any embodiment of the present application.

[0126] Adaptively, the embodiments of the present application also provide a computer device and a computer-readable storage medium.

[0127] The computer device comprises: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor;

[0128] Wherein, when the processor executes the computer program, a parking method based on satellite signals of the present application is implemented.

[0129] The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute a parking method based on satellite signals of the present application.

[0130] The above are some implementation methods of the present application, and the purpose, technical scheme and beneficial effects of the present application are further described in detail. It should be clear that the above-mentioned partial implementation methods of the present application cannot be understood as limiting the present application. It is particularly pointed out that for those skilled in the art, any changes, modifications, equivalent substitutions and variations made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A parking method based on satellite signals, characterized in that: include: Acquire a satellite signal of a target area where the parking space to be parked is located, and obtain a parking scene according to the strength of the satellite signal; wherein the parking scene includes any one of an indoor parking scene and an outdoor parking scene; Determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked; wherein the vehicle calibration information includes the vehicle length, the vehicle width and the minimum turning radius of the vehicle; A parking strategy is determined according to the parking scenario and the parking width outside the parking space, and the vehicle to be parked is controlled to be parked in the parking space according to the parking strategy.

2. A parking method based on satellite signals according to claim 1, characterized in that: The obtaining of the parking scene according to the strength of the satellite signal specifically includes: If the strength of the satellite signal is not greater than a preset signal strength threshold, the parking scene is an indoor parking scene; If the strength of the satellite signal is greater than the signal strength threshold, the parking scene is an outdoor parking scene.

3. The parking method based on satellite signals according to claim 1, characterized in that: The determining of the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked specifically includes: L = k1a + k2b - k3r; Among them, L is the parking width outside the parking space, a, b, r are the vehicle length, vehicle width and minimum turning radius of the vehicle to be parked, respectively, and k1, k2, k3 are the calibration parameters corresponding to the parking scene.

4. The parking method based on satellite signals according to claim 3, characterized in that: The determining of the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked specifically includes: If the parking scene is an indoor parking scene, the parking width outside the parking space is determined according to the preset first calibration parameter and the vehicle calibration information of the vehicle to be parked; If the parking scene is an outdoor parking scene, the parking width outside the parking space is determined according to a preset second calibration parameter combined with vehicle calibration information of the vehicle to be parked; wherein the first calibration parameter is greater than the second calibration parameter.

5. The parking method based on satellite signals according to claim 1, characterized in that: The determining of the parking strategy according to the parking scenario and the parking width outside the parking space specifically includes: If the parking scene is an outdoor parking scene, an environment image of the target area is acquired, and an outdoor parking sub-scene is obtained according to the environment image; wherein the outdoor parking sub-scene includes any one of a curb scene and a non-curb scene; A parking strategy is determined according to the outdoor parking sub-scenario.

6. The parking method based on satellite signals according to claim 5, characterized in that: The step of obtaining an outdoor parking sub-scene according to the environment image specifically includes: Identify the environment image to obtain a target identification list; If the target recognition list includes a first target, the outdoor parking sub-scene is a curb scene; wherein the first target includes any one or more of a shoulder, a wall, a road column, and a road guardrail; If the target recognition list does not include the first target, the outdoor parking sub-scene is a non-roadside scene.

7. The parking method based on satellite signals according to claim 6, characterized in that: The determining of the parking strategy according to the outdoor parking sub-scenario specifically includes: If the outdoor parking sub-scene is a curb scene, a first distance between the first target and the parking space to be parked is identified, and a parking strategy is determined based on the first distance and a parking width outside the parking space.

8. A parking device based on satellite signals, characterized in that: It includes a parking scene determination module, a parking width determination module and a parking strategy execution module; The parking scene determination module is used to obtain a satellite signal of a target area where a parking space is located, and obtain a parking scene according to the strength of the satellite signal; wherein the parking scene includes any one of an indoor parking scene and an outdoor parking scene; The parking width determination module is used to determine the parking width outside the parking space according to the preset calibration parameters corresponding to the parking scene and the vehicle calibration information of the vehicle to be parked; wherein the vehicle calibration information includes the vehicle length, the vehicle width and the minimum turning radius of the vehicle; The parking strategy execution module is used to determine a parking strategy according to the parking scenario and the parking width outside the parking space, and control the vehicle to be parked to park in the parking space according to the parking strategy.

9. A computer device, characterized in that: include: processor; Memory; a computer program stored in the memory and configured to be executed by the processor; When the processor executes the computer program, the parking method based on satellite signals as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the parking method based on satellite signals as claimed in any one of claims 1 to 7.

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