Parking control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of automatic driving, in particular to a parking control method and device, a vehicle and a storage medium. The method comprises the following steps: determining a to-be-parked parking space; acquiring two-side parking space lines and two-side obstacle information of the to-be-parked parking space, determining an actual parking area corresponding to the to-be-parked parking space according to the two-side obstacle information and / or the two-side parking space lines, and determining a target parking position of the current vehicle according to the actual parking area; and determining a parking path according to the target parking position and the current position of the current vehicle, and controlling the current vehicle to execute a parking action according to the parking path. Therefore, by means of the parking space line, the current vehicle is separated from the obstacles on the two sides of the current vehicle, the specific target parking position of the current vehicle in the to-be-parked parking space is calculated, and the problem that the getting-on and getting-off convenience of the current vehicle and an adjacent vehicle is affected due to the fact that consideration factors of a traditional parking scheme are not comprehensive is solved; and the intelligence and humanization of the vehicle parking function are improved.

Description

Technical Field

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

[0002] With the development and popularity of vehicle autonomous driving technology, vehicle automatic parking functions are becoming more and more popular, and the number and frequency of users using automatic parking functions are also increasing.

[0003] In the related technology, common automatic parking products will detect the target parking space before parking, and then select the left and right edge lines in the parking direction and park the vehicle in the middle of the left and right edge lines.

[0004] However, when a neighboring vehicle is parked near the left or right edge line of the own parking space, this method will affect the convenience of getting on and off the own vehicle and the neighboring vehicles even if the own vehicle is parked in the middle of the own parking space, which urgently needs to be solved. Summary of the invention

[0005] The present application provides a parking control method, device, vehicle and storage medium to solve the problem that traditional parking solutions do not take all factors into consideration, affecting the convenience of getting on and off the current vehicle and adjacent vehicles, thereby improving the intelligence and humanization of the vehicle parking function.

[0006] To achieve the above objectives, a first embodiment of the present application provides a parking control method, comprising the following steps:

[0007] Confirm the parking space to be parked;

[0008] Obtaining parking space lines on both sides and obstacle information on both sides of the parking space to be parked, and determining an actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determining a target parking position of the current vehicle according to the actual parking area;

[0009] A parking path is determined according to the target parking position and the current position of the current vehicle, and the current vehicle is controlled to perform a parking action according to the parking path.

[0010] According to an embodiment of the present application, determining a parking space to be parked includes:

[0011] Get a map of the target parking area;

[0012] Based on the map, detecting vacant parking spaces in the target parking area, obstacles near the vacant parking spaces, and corresponding obstacle types, and obtaining detection results;

[0013] Based on the detection result, the parking space to be parked is determined from the target parking area.

[0014] According to an embodiment of the present application, determining the actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determining the target parking position of the current vehicle according to the actual parking area includes:

[0015] Based on the obstacle information on both sides, determining whether there are parked vehicles on both sides of the parking space to be parked;

[0016] If there are parked vehicles on both sides of the parking space to be parked, a first distance between the parked vehicles on both sides of the parking space to be parked is obtained, and the target parking position is determined according to a middle position of the first distance.

[0017] According to an embodiment of the present application, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the method further includes:

[0018] If there are no parked vehicles on both sides of the parking space to be parked, and there is a parked vehicle on one side of the parking space to be parked and there is no obstacle on the other side of the parking space to be parked, obtaining a second distance between the parking space line corresponding to the other side of the parking space to be parked and the parked vehicle on one side of the parking space to be parked;

[0019] The target parking position is determined according to a middle position of the second distance.

[0020] According to an embodiment of the present application, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the method further includes:

[0021] If there are no parked vehicles on both sides of the parking space to be parked, and there is a parked vehicle on one side of the parking space to be parked and there is a wall pillar on the other side of the parking space to be parked, determining whether the wall pillar meets the condition of preventing the current vehicle from opening the door;

[0022] If the wall pillar meets the condition of preventing the current vehicle from opening the door, a third distance between the wall pillar and a parked vehicle on one side of the parking space to be parked is obtained, and the target parking position is determined according to a middle position of the third distance.

[0023] According to an embodiment of the present application, after determining whether the wall column satisfies the condition of preventing the current vehicle from opening the door, the method further includes:

[0024] If the wall pillar does not meet the condition of hindering the current vehicle from opening the door, a fourth distance between the wall pillar and a parked vehicle on one side of the parking space to be parked is obtained, and the target parking position is determined according to a fifth distance between a middle position of the fourth distance and the wall pillar.

[0025] According to an embodiment of the present application, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the method further includes:

[0026] If there are no parked vehicles on both sides of the parking space to be parked, and there is a parked vehicle on one side of the parking space to be parked, and there is a wall on the other side of the parking space to be parked, obtaining a sixth distance between the wall and the parked vehicle on one side of the parking space to be parked;

[0027] The target parking position is determined according to a middle position of the sixth distance.

[0028] According to the parking control method proposed in the embodiment of the present application, by determining the parking space to be parked, and obtaining the parking space lines on both sides of the parking space to be parked and the obstacle information on both sides, the actual parking area corresponding to the parking space to be parked can be determined according to the obstacle information on both sides and / or the parking space lines on both sides, and the target parking position of the current vehicle can be determined according to the actual parking area; then the parking path can be determined according to the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform the parking action according to the parking path. Therefore, by using the parking space lines, the current vehicle and the obstacles on both sides thereof are distinguished to calculate the specific target parking position of the current vehicle in the parking space to be parked, which solves the problem that the traditional parking solution does not consider all factors, affects the convenience of getting on and off the current vehicle and adjacent vehicles, and improves the intelligence and humanization of the vehicle parking function.

[0029] To achieve the above-mentioned purpose, a second embodiment of the present application provides a parking control device, comprising:

[0030] A first determination module is used to determine a parking space to be parked;

[0031] a second determination module, configured to obtain parking space lines on both sides and obstacle information on both sides of the parking space to be parked, and determine an actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determine a target parking position of the current vehicle according to the actual parking area;

[0032] A control module is used to determine a parking path according to the target parking position and the current position of the current vehicle, and control the current vehicle to perform a parking action according to the parking path.

[0033] According to an embodiment of the present application, the first determining module is specifically configured to:

[0034] Get a map of the target parking area;

[0035] Based on the map, detecting vacant parking spaces in the target parking area, obstacles near the vacant parking spaces, and corresponding obstacle types, and obtaining detection results;

[0036] Based on the detection result, the parking space to be parked is determined from the target parking area.

[0037] According to an embodiment of the present application, the second determining module includes:

[0038] A judging unit, configured to judge whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides;

[0039] The determination unit is configured to obtain a first distance between the parked vehicles on both sides of the parking space to be parked when there are parked vehicles on both sides of the parking space to be parked, and determine the target parking position according to a middle position of the first distance.

[0040] According to an embodiment of the present application, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the determining unit is further configured to:

[0041] When there are no parked vehicles on both sides of the parking space to be parked, there is a parked vehicle on one side of the parking space to be parked, and there is no obstacle on the other side of the parking space to be parked, obtaining a second distance between a parking space line corresponding to the other side of the parking space to be parked and the parked vehicle on one side of the parking space to be parked;

[0042] The target parking position is determined according to a middle position of the second distance.

[0043] According to an embodiment of the present application, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the determining unit further includes:

[0044] a judgment subunit, configured to judge whether the wall pillar satisfies a condition that the current vehicle is prevented from opening the door when there are no parked vehicles on both sides of the parking space to be parked, there is a parked vehicle on one side of the parking space to be parked, and there is a wall pillar on the other side of the parking space to be parked;

[0045] The determination subunit is configured to obtain a third distance between the wall column and a vehicle parked on one side of the parking space to be parked if the wall column satisfies the condition of hindering the current vehicle from opening the door, and determine the target parking position according to a middle position of the third distance.

[0046] According to an embodiment of the present application, after determining whether the wall column satisfies the condition of preventing the current vehicle from opening the door, the determining subunit is further configured to:

[0047] When the wall pillar does not meet the condition of hindering the current vehicle from opening the door, a fourth distance between the wall pillar and a parked vehicle on one side of the parking space to be parked is obtained, and the target parking position is determined according to a fifth distance between a middle position of the fourth distance and the wall pillar.

[0048] According to an embodiment of the present application, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the determining unit is further configured to:

[0049] When there are no parked vehicles on both sides of the parking space to be parked, there is a parked vehicle on one side of the parking space to be parked, and there is a wall on the other side of the parking space to be parked, obtaining a sixth distance between the wall and the parked vehicle on one side of the parking space to be parked;

[0050] The target parking position is determined according to a middle position of the sixth distance.

[0051] According to the parking control device proposed in the embodiment of the present application, by determining the parking space to be parked, and obtaining the parking space lines on both sides of the parking space to be parked and the obstacle information on both sides, the actual parking area corresponding to the parking space to be parked can be determined according to the obstacle information on both sides and / or the parking space lines on both sides, and the target parking position of the current vehicle can be determined according to the actual parking area; then the parking path can be determined according to the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform the parking action according to the parking path. Therefore, by using the parking space lines, the current vehicle and the obstacles on both sides thereof are distinguished to calculate the specific target parking position of the current vehicle in the parking space to be parked, which solves the problem that the traditional parking solution does not consider all factors, affects the convenience of getting on and off the current vehicle and adjacent vehicles, and improves the intelligence and humanization of the vehicle parking function.

[0052] To achieve the above objectives, the third aspect of the present application proposes a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking control method as described in the above embodiments.

[0053] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the parking control method as described in the above embodiments.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0056] Figure 1 A flowchart of a parking control method provided according to an embodiment of the present application;

[0057] Figure 2 A schematic diagram comparing parking effects of a parking solution 1 according to an embodiment of the present application and an existing solution;

[0058] Figure 3 A schematic diagram comparing parking effects of parking solution 2 according to an embodiment of the present application and an existing solution;

[0059] Figure 4 A schematic diagram comparing parking effects of parking solution 3 according to an embodiment of the present application and an existing solution;

[0060] Figure 5 A schematic diagram comparing parking effects of parking solution 4 according to an embodiment of the present application and an existing solution;

[0061] Figure 6 A schematic diagram of a parking road surface with water accumulation according to an embodiment of the present application;

[0062] Figure 7 A flowchart of another parking control method provided according to an embodiment of the present application;

[0063] Figure 8 A block diagram of a parking control device provided according to an embodiment of the present application;

[0064] Fig. 9 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] 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 throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0066] The following describes a parking control method, device, electronic device, and storage medium according to embodiments of the present application with reference to the accompanying drawings.

[0067] Figure 1 It is a flowchart of a parking control method according to an embodiment of the present application.

[0068] Before introducing the parking control method proposed in the embodiment of the present application, the relevant technical background is briefly introduced.

[0069] It is understandable that the automatic parking function is generally divided into the following steps: (1) the vehicle drives in the parking lot to establish a parking space and obstacle map; (2) the user selects the target parking space; (3) the vehicle calculates the target position based on the detected parking space edge line; (4) the obstacle is detected and parking begins; (5) the vehicle reaches the target position and parking is completed.

[0070] In the above step (2), after the user selects the target parking space, the existing technical solution 1 is: the lateral parking position of the vehicle is calculated based on the left and right edge lines of the parking space by the vehicle's automatic parking unit, and the longitudinal parking position is determined by the position of the parking wheel block or the rear edge line of the parking space; the existing technical solution 2 is: by considering the physical attribute information of the occupants, the required angle of the door is considered, thereby adjusting the vehicle's parking target position and posture to facilitate the occupants to get on and off the vehicle.

[0071] However, for the existing technical solution 1, if some vehicles are not parked in the middle of the parking space but leaning to one side, while the self-vehicle is still parked in the middle of the target parking space, it will cause inconvenience for the self-vehicle and adjacent vehicles to get on and off, and even the door may not be opened or people cannot get on and off after opening. For the existing technical solution 2, the parking solution is designed by only considering the factor of the door opening of the self-vehicle, which may cause the parking position of the self-vehicle to affect the parking success rate of other vehicles; at the same time, the acquisition of the body information of the people in the car will also increase the input interaction steps of each person's body information, or there will be problems of personal privacy leakage when performing image detection of body information.

[0072] Based on the above problems, the embodiment of the present application proposes a parking control method, which distinguishes between entities such as vehicles, walls and wall pillars, determines the target parking position of the current vehicle according to the parking space lines and obstacle information on both sides of the parking space to be parked, and then determines the parking path according to the target parking position and the current position of the current vehicle, and controls the current vehicle to perform parking actions according to the parking path. This solves the problem that the traditional parking solution does not consider all factors, affecting the convenience of getting on and off the current vehicle and adjacent vehicles, and improves the intelligence and humanization of the vehicle parking function.

[0073] The parking control method proposed in the embodiment of the present application is described in detail below.

[0074] For example, Figure 1 As shown, the parking control method includes the following steps:

[0075] In step S101 , a parking space to be parked is determined.

[0076] It is understandable that the parking space to be parked is the parking space where the current vehicle will park. Determining the parking space to be parked is the first step in the entire parking process. It is necessary to carefully observe the surrounding environment and choose a suitable parking space to park. The parking space to be parked should be spacious enough so that the vehicle can park smoothly. At the same time, the distance from other vehicles should also be considered to ensure that there will be no interference or scratches on other vehicles during the parking process. In addition, when choosing a parking space, you should also pay attention to whether the markings on the ground are clear to ensure that the user can park the vehicle in the prescribed manner.

[0077] The following is a detailed description of how to determine the parking space to be parked.

[0078] As a possible implementation method, in some embodiments, determining a parking space to be parked includes: obtaining a map of a target parking area; based on the map, detecting vacant parking spaces in the target parking area, obstacles near the vacant parking spaces, and corresponding obstacle types to obtain detection results; based on the detection results, determining a parking space to be parked in the target parking area.

[0079] Specifically, in order to achieve intelligent parking, the map data of the target parking area can be obtained through various map service providers or real-time scanning using vehicle-mounted sensors. Next, based on the obtained map data, the target parking area will be detected in detail. The main purpose of the detection is to identify the vacant parking spaces and analyze the obstacles near these vacant parking spaces. Among them, there are various types of obstacles, including movable obstacles and immovable obstacles. Movable obstacles can include other parked vehicles, passing pedestrians, and temporarily placed ice cream cones, while immovable obstacles can include fixed pillars, parking fences, and walls. Through precise detection, the system can identify the specific location and type of these obstacles. After obtaining the detection results, the system will conduct further analysis based on this information. By comprehensively considering the number and location of vacant parking spaces and the obstacles nearby, the system will determine the current best parking space to be parked in the target parking area. The selection of the parking space to be parked will take into account factors such as parking convenience, safety, and possible driving paths to ensure that users can complete parking operations smoothly and efficiently.

[0080] In step S102, the parking space lines and obstacle information on both sides of the parking space to be parked are obtained, and the actual parking area corresponding to the parking space to be parked is determined according to the obstacle information on both sides and / or the parking space lines on both sides, and the target parking position of the current vehicle is determined according to the actual parking area.

[0081] It is understandable that in order to achieve accurate parking operations, it is first necessary to obtain detailed information of the parking space to be parked, that is, to identify and obtain the parking space line information on both sides of the parking space to be parked, and at the same time detect whether there are any obstacles on both sides of the parking space to be parked. By analyzing the specific position, size and type of these parking space lines and obstacles, the actual parking area corresponding to the parking space to be parked can be further determined. The actual parking area refers to the actual space available for the current vehicle to park within the range of the parking space lines on both sides of the parking space to be parked, excluding the space occupied by the obstacles on both sides. The actual parking area uses the length of the current vehicle as the length of the parking area, and the distance determined between the obstacle information on both sides and the parking space lines on both sides as the width of the parking area. Finally, based on the specific size and position of this actual parking area, the target parking position of the current vehicle is further determined, thereby ensuring that the vehicle can be safely and accurately parked in the predetermined parking space to avoid collision or scratches with obstacles on both sides.

[0082] Next, it is described in detail how to determine the actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determine the target parking position of the current vehicle according to the actual parking area.

[0083] As a possible implementation method, in some embodiments, the actual parking area corresponding to the parking space to be parked is determined based on the obstacle information on both sides and / or the parking space lines on both sides, and the target parking position of the current vehicle is determined based on the actual parking area, including: judging whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides; if there are parked vehicles on both sides of the parking space to be parked, obtaining a first distance between the parked vehicles on both sides of the parking space to be parked, and determining the target parking position based on the middle position of the first distance.

[0084] Specifically, when performing a parking operation, the first thing to do is to use the obstacle information on both sides of the vehicle to determine whether the two sides of the parking space to be parked are already occupied by other vehicles, that is, to detect whether there are parked vehicles on both sides of the parking space to be parked. If it is confirmed through detection that there are already parked vehicles on both sides of the parking space to be parked (the posture of the parked vehicles can be that two vehicles are parked at the same time in the middle of the parking space line, such as Figure 2 As shown in (a), at least one vehicle may not be parked in the middle of the parking space line, such as Figure 2 (b) or Figure 2 (c)), then the distance between the parked vehicles on both sides can be measured, that is, the first distance. After the measurement is completed, the area formed by taking the first distance as the width and the length of the current vehicle as the length is taken as the actual parking area corresponding to the parking space to be parked, and the middle position of the first distance is taken as the target parking position. The existing parking scheme can be as follows Figure 2 As shown in (b), the parking effect of the embodiment of the present application can be as follows: Figure 2 As shown in (c), the current vehicle can be parked accurately at the center of the parking space to be parked, ensuring a smooth parking process.

[0085] After determining the target parking location, information that may affect the parking experience, such as the door or road conditions when getting on and off the vehicle, can also be sent to the user. Figure 2 In the parking scenario shown in (a), the reminder information can be output as "the parking area meets the requirements for regular parking". Figure 2 In the parking scenario shown in (c), the reminder message may be output as "There is about 15 cm left on both sides of the current vehicle's target parking position, which may affect door opening. Please consider getting off in advance" or "It affects the opening of doors of other vehicles", etc.

[0086] Optionally, in some embodiments, after determining whether there are parked vehicles on both sides of the parking space to be parked based on obstacle information on both sides, the method further includes: if there are no parked vehicles on both sides of the parking space to be parked, then if there is a parked vehicle on one side of the parking space to be parked and there is no obstacle on the other side of the parking space to be parked, obtaining a second distance between a parking space line corresponding to the other side of the parking space to be parked and the parked vehicle on one side of the parking space to be parked; and determining the target parking position according to the middle position of the second distance.

[0087] Specifically, if Figure 3 As shown in FIG. 1 , if a vehicle is already parked in a parking space on one side of the parking space to be parked, and no vehicle is parked in the parking space on the other side and there are no other obstacles, the distance between the parking space line corresponding to the other side of the parking space to be parked and the already parked vehicle, i.e., the second distance, can be measured. The second distance refers to the distance from the parking space line (e.g., Figure 3 (a) Figure 3 (b) parking space line I; or Figure 3 (c) Figure 3 The horizontal distance between the parking space line IV) in (d) and the parked vehicle is taken as the width and the length of the current vehicle as the length. The area formed is taken as the actual parking area corresponding to the parking space to be parked, and the target parking position is determined according to the middle position of the second distance. The existing parking scheme can be as follows: Figure 3 (a) or Figure 3 As shown in (c), the parking effect of the embodiment of the present application can be as follows: Figure 3 (b) or Figure 3 Thus, the parking solution of the embodiment of the present application can ensure that the current vehicle can be parked smoothly in the parking space while avoiding collision with parked vehicles.

[0088] In such Figure 3 (b) or Figure 3In the parking scenario shown in (d), the reminder information can be output as "There is about 15 cm left on both sides of the current vehicle's target parking position, which may affect door opening. Please consider getting off in advance" or "It affects the opening of other vehicles' doors", etc.

[0089] Optionally, in some embodiments, after determining whether there are parked vehicles on both sides of the parking space to be parked based on obstacle information on both sides, the method further includes: if there are no parked vehicles on both sides of the parking space to be parked, then when there is a parked vehicle on one side of the parking space to be parked and there is a wall pillar on the other side of the parking space to be parked, determining whether the wall pillar meets the condition of hindering the current vehicle from opening the door; if the wall pillar meets the condition of hindering the current vehicle from opening the door, obtaining a third distance between the wall pillar and the parked vehicle on one side of the parking space to be parked, and determining the target parking position according to the middle position of the third distance.

[0090] Specifically, if Figure 4 As shown, if there is already a car parked in the parking space on one side of the parking space to be parked, and there is a wall pillar on the other side, in this case, it is possible to first determine whether the wall pillar will hinder the opening of the door of the current vehicle, that is, to evaluate whether the position of the wall pillar is close enough to the door of the current vehicle so that the door cannot be opened smoothly after the vehicle is parked in the parking space. If, after evaluation, the wall pillar does hinder the opening of the door, then the distance between the wall pillar and the parked vehicle on one side of the parking space to be parked, that is, the third distance, can be measured. The third distance refers to the straight-line distance from the wall pillar to the parked vehicle on one side of the parking space to be parked. The area formed by taking the third distance as the width and the length of the current vehicle as the length is taken as the actual parking area corresponding to the parking space to be parked, and the target parking position is determined according to the middle position of the third distance. In other words, parking the current vehicle in the middle position of the third distance can ensure that the door can be opened smoothly after parking and will not be hindered by the wall pillar or the vehicle on the other side. Existing parking solutions can be as follows Figure 4 As shown in (a), the parking effect of the embodiment of the present application can be as follows: Figure 4 Thus, the parking solution of the embodiment of the present application can reasonably arrange the parking of vehicles in a limited space to avoid unnecessary trouble.

[0091] Optionally, in some embodiments, after determining whether the wall pillar satisfies the condition of hindering the current vehicle from opening the door, it also includes: if the wall pillar does not satisfy the condition of hindering the current vehicle from opening the door, obtaining a fourth distance between the wall pillar and a parked vehicle on one side of the parking space to be parked, and determining the target parking position based on the middle position of the fourth distance and the fifth distance between the wall pillars, that is, how close the target parking position can be to the wall pillar.

[0092] Specifically, if the wall pillar does not constitute a condition that hinders the current vehicle from opening the door, that is, the wall pillar will not hinder the opening of the vehicle door, then the distance between the wall pillar and the parked vehicle on one side of the parking space to be parked can be measured, that is, the fourth distance. After obtaining this distance, the target parking position can be further determined based on the distance between the middle position of the fourth distance and the wall pillar, that is, the fifth distance. In other words, when the wall pillar does not hinder the opening of the vehicle door, the target parking position can be selected closer to the wall pillar to make better use of the space.

[0093] In the above parking scenario, the reminder information can be output as "The pillars near the target position do not affect the door opening. The current vehicle is about 15 cm away from the vehicle on the right, which may affect the door opening. Please consider getting off in advance" or "It affects the opening of other vehicles' doors".

[0094] Optionally, in some embodiments, after determining whether there are parked vehicles on both sides of the parking space to be parked based on obstacle information on both sides, the method further includes: if there are no parked vehicles on both sides of the parking space to be parked, then when there is a parked vehicle on one side of the parking space to be parked and there is a wall on the other side of the parking space to be parked, obtaining a sixth distance between the wall and the parked vehicle on one side of the parking space to be parked; and determining the target parking position according to the middle position of the sixth distance.

[0095] Specifically, if a car is already parked on one side of the parking space to be parked, and there is a wall on the other side of the parking space to be parked, the distance between the wall and the car already parked on one side of the parking space to be parked, i.e., the sixth distance, can be measured. The sixth distance is used as the width and the length of the current vehicle is used as the length. The area formed is used as the actual parking area corresponding to the parking space to be parked, and the target parking position can be determined according to the middle position of the sixth distance. Figure 5 As shown in (a), the parking effect of the embodiment of the present application can be as follows: Figure 5 Thus, the parking solution of the embodiment of the present application can ensure that the current vehicle can maintain an appropriate distance from obstacles on both sides when parking in the parking space, thereby completing the parking operation safely.

[0096] In such Figure 5 In the parking scenario shown in (b), the reminder message may be output as "The current vehicle is approximately 15 cm away from the vehicle on the right and the wall, which may affect the door opening of your vehicle. Please consider getting off in advance" or "It affects the door opening of other vehicles", etc.

[0097] In addition, when there is water accumulation in the parking space, which affects the users' getting on and off the car, Figure 6As shown, the above-mentioned method can also be used to calculate the target parking position of the current vehicle in the parking space to be parked. At the same time, the output reminder information can be "there is water on the left side of the target parking position, which may affect getting off, please consider getting off in advance" and the like.

[0098] Furthermore, after determining the target parking position of the current vehicle based on obstacle information on both sides of the parking space to be parked and / or parking space lines on both sides, the embodiment of the present application can also generate parking preview information based on the target parking position. According to the preview information, the user can more intuitively understand the specific situation of the current parking plan, and thus select a parking plan, wherein the current parking plan includes one of selecting parking, selecting another parking space, and canceling parking.

[0099] Specifically, the parking preview information can include a simulated display of the parking path, prompts of obstacles that may be encountered during parking, and the occupancy of the parking space after parking is completed. This information can help users evaluate the current parking plan more comprehensively. Based on this preview information, users can make more informed decisions and choose the parking plan that best suits the current situation. The current parking plan includes three options: choose to park using the current parking plan, choose another parking space, and cancel parking. Choosing parking means that the user confirms the current parking position and plan, and the system will guide the vehicle to park according to the preset path; choosing another parking space means that the user is not satisfied with the current parking position and hopes to find another more suitable parking space for parking; and canceling parking means that the user decides not to park temporarily, which may be due to poor conditions of the current parking space or other reasons. In this way, users can flexibly respond to various parking situations to ensure the safety and efficiency of the parking process.

[0100] In step S103, a parking path is determined according to the target parking position and the current position of the current vehicle, and the current vehicle is controlled to perform a parking action according to the parking path.

[0101] Specifically, in order to realize the automatic parking function of the vehicle, through precise calculation and optimization algorithm, a suitable parking path can be determined according to the predetermined target parking position and the actual position of the vehicle. After the parking path is determined, the current vehicle can be controlled to perform the parking action according to this path, and finally the vehicle can be accurately parked at the target parking position.

[0102] In addition, when the parking operation is completed, the system will immediately notify the user that the parking has been successfully completed. At the same time, the system will also collect the parking situation after the parking is completed, including the parking location, parking time and related information of the surrounding environment, and push these detailed information to the user in real time, ensuring that the user can fully understand the specific parking situation and surrounding environment, and improve the user experience.

[0103] To facilitate those skilled in the art to further understand the parking control method proposed in the embodiment of the present application, Figure 7 For further elaboration.

[0104] like Figure 7 As shown, the parking control method includes the following steps:

[0105] Step S701, creating a map of the target parking area.

[0106] Step S702: The vehicle senses surrounding environment information.

[0107] Step S703: select a target parking space.

[0108] Step S704: Calculate the target parking position in the target parking space.

[0109] Step S705: Generate a parking preview and remind the user.

[0110] Step S706: The user selects a final parking plan based on the current parking plan, wherein the current parking plan includes one of selecting parking, selecting another parking space, and canceling parking.

[0111] Step S707a: when the user selects another parking space plan, step S702 is executed again.

[0112] Step S707b: When the user chooses to park, execute step S708.

[0113] Step S707c, when the user cancels parking, the process ends.

[0114] Step S708: Control the current vehicle to perform a parking action according to the parking path.

[0115] According to the parking control method proposed in the embodiment of the present application, by determining the parking space to be parked, and obtaining the parking space lines on both sides of the parking space to be parked and the obstacle information on both sides, the actual parking area corresponding to the parking space to be parked can be determined according to the obstacle information on both sides and / or the parking space lines on both sides, and the target parking position of the current vehicle can be determined according to the actual parking area; then the parking path can be determined according to the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform the parking action according to the parking path. Therefore, by using the parking space lines, the current vehicle and the obstacles on both sides thereof are distinguished to calculate the specific target parking position of the current vehicle in the parking space to be parked, which solves the problem that the traditional parking solution does not consider all factors, affects the convenience of getting on and off the current vehicle and adjacent vehicles, and improves the intelligence and humanization of the vehicle parking function.

[0116] Next, the parking control device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0117] Figure 8 It is a block diagram of a parking control device according to an embodiment of the present application.

[0118] like Figure 8 As shown, the parking control device 10 includes: a first determination module 100 , a second determination module 200 and a control module 300 .

[0119] The first determination module 100 is used to determine the parking space to be parked;

[0120] The second determination module 200 is used to obtain parking space lines and obstacle information on both sides of the parking space to be parked, and determine the actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determine the target parking position of the current vehicle according to the actual parking area;

[0121] The control module 300 is used to determine a parking path according to a target parking position and a current position of the current vehicle, and control the current vehicle to perform a parking action according to the parking path.

[0122] Further, in some embodiments, the first determining module 100 is specifically configured to:

[0123] Get a map of the target parking area;

[0124] Based on the map, detect the vacant parking spaces in the target parking area, obstacles near the vacant parking spaces, and corresponding obstacle types, and obtain detection results;

[0125] Based on the detection result, a parking space to be parked is determined from the target parking area.

[0126] Further, in some embodiments, the second determining module 200 includes:

[0127] A judgment unit, used to judge whether there are parked vehicles on both sides of the parking space to be parked based on obstacle information on both sides;

[0128] The determination unit is used to obtain a first distance between the parked vehicles on both sides of the parking space to be parked when there are parked vehicles on both sides of the parking space to be parked, and determine the target parking position according to the middle position of the first distance.

[0129] Furthermore, in some embodiments, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the determination unit is further configured to:

[0130] When there are no parked vehicles on both sides of the parking space to be parked, there is a parked vehicle on one side of the parking space to be parked, and there is no obstacle on the other side of the parking space to be parked, obtaining a second distance between the parking space line corresponding to the other side of the parking space to be parked and the parked vehicle on one side of the parking space to be parked;

[0131] The target parking position is determined based on the middle position of the second distance.

[0132] Furthermore, in some embodiments, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the determining unit further includes:

[0133] A judgment subunit, for judging whether the wall pillar satisfies the condition of preventing the current vehicle from opening the door when there are no parked vehicles on both sides of the parking space to be parked, there is a parked vehicle on one side of the parking space to be parked, and there is a wall pillar on the other side of the parking space to be parked;

[0134] The determination subunit is used to obtain a third distance between the wall pillar and a parked vehicle on one side of the parking space to be parked if the wall pillar meets the condition of blocking the current vehicle from opening the door, and determine the target parking position according to the middle position of the third distance.

[0135] Further, in some embodiments, after determining whether the wall pillar meets the condition of blocking the current vehicle from opening the door, the determination subunit is further configured to:

[0136] When the wall pillar does not meet the condition of hindering the current vehicle from opening the door, a fourth distance between the wall pillar and the parked vehicle on one side of the parking space to be parked is obtained, and the target parking position is determined according to the middle position of the fourth distance and the fifth distance between the wall pillars.

[0137] Furthermore, in some embodiments, after determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the determination unit is further configured to:

[0138] When there are no parked vehicles on both sides of the parking space to be parked, there is a parked vehicle on one side of the parking space to be parked, and there is a wall on the other side of the parking space to be parked, obtaining a sixth distance between the wall and the parked vehicle on one side of the parking space to be parked;

[0139] The target parking position is determined based on the middle position of the sixth distance.

[0140] It should be noted that the above explanations of the parking control method embodiment are also applicable to the parking control device of this embodiment, and will not be repeated here.

[0141] According to the parking control device proposed in the embodiment of the present application, by determining the parking space to be parked, and obtaining the parking space lines on both sides of the parking space to be parked and the obstacle information on both sides, the actual parking area corresponding to the parking space to be parked can be determined according to the obstacle information on both sides and / or the parking space lines on both sides, and the target parking position of the current vehicle can be determined according to the actual parking area; then the parking path can be determined according to the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform the parking action according to the parking path. Therefore, by using the parking space lines, the current vehicle and the obstacles on both sides thereof are distinguished to calculate the specific target parking position of the current vehicle in the parking space to be parked, which solves the problem that the traditional parking solution does not consider all factors, affects the convenience of getting on and off the current vehicle and adjacent vehicles, and improves the intelligence and humanization of the vehicle parking function.

[0142] Fig. 9 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0143] A memory 901 , a processor 902 , and a computer program stored in the memory 901 and executable on the processor 902 .

[0144] When the processor 902 executes the program, the parking control method provided in the above embodiment is implemented.

[0145] Furthermore, the vehicle also includes:

[0146] The communication interface 903 is used for communication between the memory 901 and the processor 902 .

[0147] The memory 901 is used to store computer programs that can be executed on the processor 902 .

[0148] The memory 901 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0149] If the memory 901, the processor 902 and the communication interface 903 are implemented independently, the communication interface 903, the memory 901 and the processor 902 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0150] Optionally, in a specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can communicate with each other through an internal interface.

[0151] The processor 902 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0152] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above parking control method is implemented.

[0153] In addition, 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 the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0154] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0155] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A parking control method, characterized in that: The following steps are involved: Confirm the parking space to be parked; Obtaining parking space lines on both sides and obstacle information on both sides of the parking space to be parked, and determining an actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determining a target parking position of the current vehicle according to the actual parking area; A parking path is determined according to the target parking position and the current position of the current vehicle, and the current vehicle is controlled to perform a parking action according to the parking path.

2. The method according to claim 1, characterized in that The step of determining a parking space to be parked includes: Get a map of the target parking area; Based on the map, detecting vacant parking spaces in the target parking area, obstacles near the vacant parking spaces, and corresponding obstacle types, and obtaining detection results; Based on the detection result, the parking space to be parked is determined from the target parking area.

3. The method according to claim 1, characterized in that The determining of the actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determining the target parking position of the current vehicle according to the actual parking area includes: Based on the obstacle information on both sides, determining whether there are parked vehicles on both sides of the parking space to be parked; If there are parked vehicles on both sides of the parking space to be parked, a first distance between the parked vehicles on both sides of the parking space to be parked is obtained, and the target parking position is determined according to a middle position of the first distance.

4. The method according to claim 3, characterized in that After determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the method further includes: If there are no parked vehicles on both sides of the parking space to be parked, and there is a parked vehicle on one side of the parking space to be parked and there is no obstacle on the other side of the parking space to be parked, obtaining a second distance between the parking space line corresponding to the other side of the parking space to be parked and the parked vehicle on one side of the parking space to be parked; The target parking position is determined according to a middle position of the second distance.

5. The method according to claim 3, characterized in that: After determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the method further includes: If there are no parked vehicles on both sides of the parking space to be parked, and there is a parked vehicle on one side of the parking space to be parked and there is a wall pillar on the other side of the parking space to be parked, determining whether the wall pillar meets the condition of preventing the current vehicle from opening the door; If the wall pillar meets the condition of preventing the current vehicle from opening the door, a third distance between the wall pillar and a parked vehicle on one side of the parking space to be parked is obtained, and the target parking position is determined according to a middle position of the third distance.

6. The method according to claim 5, characterized in that After determining whether the wall pillar meets the condition of preventing the current vehicle from opening the door, the method further includes: If the wall pillar does not meet the condition of hindering the current vehicle from opening the door, a fourth distance between the wall pillar and a parked vehicle on one side of the parking space to be parked is obtained, and the target parking position is determined according to a fifth distance between a middle position of the fourth distance and the wall pillar.

7. The method according to claim 3, characterized in that After determining whether there are parked vehicles on both sides of the parking space to be parked based on the obstacle information on both sides, the method further includes: If there are no parked vehicles on both sides of the parking space to be parked, and there is a parked vehicle on one side of the parking space to be parked, and there is a wall on the other side of the parking space to be parked, obtaining a sixth distance between the wall and the parked vehicle on one side of the parking space to be parked; The target parking position is determined according to a middle position of the sixth distance.

8. A parking control device, characterized in that: include: A first determination module is used to determine a parking space to be parked; a second determination module, configured to obtain parking space lines on both sides and obstacle information on both sides of the parking space to be parked, and determine an actual parking area corresponding to the parking space to be parked according to the obstacle information on both sides and / or the parking space lines on both sides, and determine a target parking position of the current vehicle according to the actual parking area; A control module is used to determine a parking path according to the target parking position and the current position of the current vehicle, and control the current vehicle to perform a parking action according to the parking path.

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

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the parking control method according to any one of claims 1 to 7.

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