Parking control method and device, vehicle and storage medium

Abstract

The application 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 line 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 line, and determining a target parking position of a current vehicle according to the actual parking area; determining a parking path according to the target parking position and a current position of the current vehicle, and controlling the current vehicle to perform a parking action according to the parking path. Therefore, the current vehicle and obstacles on both sides thereof are distinguished by means of the parking line, so that the specific target parking position of the current vehicle in the to-be-parked parking space is calculated, the problem that a traditional parking scheme does not comprehensively consider factors and influences the convenience of getting on and off the current vehicle and a nearby vehicle is solved, and the intelligentization and humanization of the vehicle parking function are improved.

Description

Technical Field

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

[0002] With the development and popularity of autonomous driving technology, automatic parking functions are becoming increasingly common, and users are using these functions more and more frequently.

[0003] In related technologies, common automatic parking products detect the target parking space before parking, 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, this method has a drawback when encountering adjacent vehicles parked near the left and right edges of the parking space. Even if the car is parked in the middle of the parking space, it will affect the convenience of getting in and out of the car and adjacent vehicles, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides a parking control method, device, vehicle, and storage medium to solve the problem that traditional parking solutions do not take into account all factors, which affects the convenience of getting on and off the current vehicle and nearby vehicles, thereby improving the intelligence and user-friendliness of vehicle parking functions.

[0006] To achieve the above objectives, the first aspect of this application proposes a parking control method, comprising the following steps:

[0007] Identify the parking space to be parked in;

[0008] Obtain information on the parking lines and obstacles on both sides of the parking space to be parked, and determine the actual parking area corresponding to the parking space to be parked based on the obstacle information and / or the parking lines on both sides, and determine the target parking position of the current vehicle based on the actual parking area.

[0009] The parking path is determined based on the target parking location and the current location of the current vehicle, and the current vehicle is controlled to perform a parking action based on the parking path.

[0010] According to one embodiment of this application, determining the parking space to be parked includes:

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

[0012] Based on the map, the system detects available parking spaces in the target parking area, obstacles near the available parking spaces, and the corresponding obstacle types to obtain detection results.

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

[0014] According to one embodiment of this application, determining the actual parking area corresponding to the parking space to be parked based on 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 based on the actual parking area, includes:

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

[0016] If there are parked vehicles on both sides of the parking space to be parked, then the 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 based on the midpoint of the first distance.

[0017] According to one embodiment of this 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 at the same time, then if there is a parked vehicle on one side of the parking space to be parked and there are no obstacles on the other side of the parking space to be parked, then obtain the second distance between the parking 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 based on the midpoint of the second distance.

[0020] According to one embodiment of this 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 at the same time, then if there is a parked vehicle on one side of the parking space to be parked and there is a wall or pillar on the other side of the parking space to be parked, it is determined whether the wall or pillar meets the condition of obstructing the opening of the current vehicle door.

[0022] If the wall pillar satisfies the condition of obstructing the opening of the current vehicle door, then the third distance between the wall pillar and the vehicle already parked on one side of the parking space to be parked is obtained, and the target parking position is determined based on the middle position of the third distance.

[0023] According to one embodiment of this application, after determining whether the wall column meets the condition of obstructing the opening of the current vehicle door, the method further includes:

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

[0025] According to one embodiment of this 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 at the same time, then if 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, then obtain the 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 based on the midpoint of the sixth distance.

[0028] According to the parking control method proposed in this application, by determining the parking space to be parked and obtaining the parking lines and obstacles on both sides of the parking space, the actual parking area corresponding to the parking space to be parked can be determined based on the obstacle information and / or the parking lines on both sides, and the target parking position of the current vehicle can be determined based on the actual parking area; then, the parking path can be determined based on the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform a parking action based on the parking path. Thus, by using parking lines to distinguish the current vehicle from the obstacles on both sides, the specific target parking position of the current vehicle in the parking space to be parked can be calculated, solving the problem that traditional parking schemes do not consider all factors, affecting the convenience of getting in and out of the current vehicle and nearby vehicles, and improving the intelligence and user-friendliness of the vehicle parking function.

[0029] To achieve the above objectives, a second aspect of this application provides a parking control device, comprising:

[0030] The first determining module is used to determine the parking space to be parked in;

[0031] The second determining module is used to obtain the parking lines on both sides and the obstacle information on both sides of the parking space to be parked, and to determine the actual parking area corresponding to the parking space to be parked based on the obstacle information on both sides and / or the parking lines on both sides, and to determine the target parking position of the current vehicle based on the actual parking area.

[0032] The control module is used to determine a parking path based on the target parking location and the current location of the current vehicle, and to control the current vehicle to perform a parking action based on the parking path.

[0033] According to one embodiment of this application, the first determining module is specifically used for:

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

[0035] Based on the map, the system detects available parking spaces in the target parking area, obstacles near the available parking spaces, and the corresponding obstacle types to obtain detection results.

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

[0037] According to one embodiment of this application, the second determining module includes:

[0038] The judgment unit is used to determine, based on the obstacle information on both sides, whether there are parked vehicles on both sides of the parking space to be parked at the same time;

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

[0040] According to one embodiment of this 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 are no obstacles on the other side of the parking space to be parked, obtain the second distance between the parking 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 based on the midpoint of the second distance.

[0043] According to one embodiment of this 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] The determination subunit is used to determine whether the wall or pillar meets the condition of obstructing the opening of the current vehicle when there are no parked vehicles on both sides of the parking space to be parked at the same time, there is a parked vehicle on one side of the parking space to be parked, and there is a wall or pillar on the other side of the parking space to be parked.

[0045] A subunit is defined to obtain a third distance between the wall post and a vehicle already parked on one side of the parking space when the wall post meets the condition of obstructing the opening of the current vehicle door, and to determine the target parking position based on the middle position of the third distance.

[0046] According to one embodiment of this application, after determining whether the wall column meets the condition of obstructing the opening of the current vehicle door, the determining subunit is further configured to:

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

[0048] According to one embodiment of this 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 at the same time, 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, obtain the 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 based on the midpoint of the sixth distance.

[0051] According to the parking control device proposed in this application, by determining the parking space to be parked and acquiring information on the parking lines and obstacles on both sides of the parking space, the actual parking area corresponding to the parking space to be parked can be determined based on the obstacle information and / or the parking lines on both sides, and the target parking position of the current vehicle can be determined based on the actual parking area; then, the parking path can be determined based on the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform a parking action based on the parking path. Thus, by using parking lines to distinguish the current vehicle from the obstacles on both sides, the specific target parking position of the current vehicle in the parking space to be parked is calculated, solving the problem that traditional parking solutions do not consider all factors, affecting the convenience of getting in and out of the current vehicle and nearby vehicles, and improving the intelligence and user-friendliness of the vehicle parking function.

[0052] To achieve the above objectives, a third aspect of this application provides 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 this 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 this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0056] Figure 1 This is a flowchart of a parking control method provided according to an embodiment of this application;

[0057] Figure 2 This is a schematic diagram comparing the parking effect of a parking solution according to an embodiment of this application with that of an existing solution;

[0058] Figure 3 This is a schematic diagram comparing the parking effect of a second parking solution according to an embodiment of this application with that of an existing solution;

[0059] Figure 4 This is a schematic diagram comparing the parking effect of a parking solution three according to an embodiment of this application with that of an existing solution;

[0060] Figure 5 This is a schematic diagram comparing the parking effect of a parking solution four according to an embodiment of this application with that of an existing solution;

[0061] Figure 6 This is a schematic diagram of a parking surface with water accumulation according to an embodiment of this application;

[0062] Figure 7 This is a flowchart of another parking control method provided according to an embodiment of this application;

[0063] Figure 8 This is a block diagram of a parking control device provided according to an embodiment of this application;

[0064] Figure 9 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0065] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0066] The parking control method, apparatus, electronic device, and storage medium according to embodiments of this application are described below with reference to the accompanying drawings.

[0067] Figure 1 This is a flowchart of a parking control method according to an embodiment of this application.

[0068] Before introducing the parking control method proposed in the embodiments of this application, let's briefly introduce the relevant technical background.

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

[0070] In step (2) above, after the user selects the target parking space, the existing technical solution 1 is to calculate the lateral parking position of the vehicle based on the left and right edge lines of the parking space through the vehicle's automatic parking unit, and determine the longitudinal parking position by the position of the parking wheel chocks or the rear edge line of the parking space; the existing technical solution 2 is to consider the required angle of the car door by taking into account the body attribute information of the people in the car, thereby adjusting the target parking position and posture of the vehicle to facilitate the people in the car to get in and out of the car.

[0071] However, with the existing technical solution one, if some vehicles are not parked in the middle of the parking space but rather to one side, while your car is still parked in the middle of the target parking space, it will cause inconvenience for getting in and out of your car and adjacent vehicles, and may even result in situations where the car door cannot be opened or people cannot get in or out of the car after it is opened. With the existing technical solution two, designing a parking scheme based solely on the opening degree of the car door may result in the parking position of your car affecting the parking success rate of other vehicles; at the same time, obtaining the body information of the occupants will increase the number of steps for inputting body information for each person, or there may be issues of privacy leakage when performing image detection of body information.

[0072] Based on the aforementioned problems, this application proposes a parking control method that distinguishes between physical entities such as vehicles, walls, and pillars. It determines the target parking position of the current vehicle based on the parking space lines and obstacles on both sides of the parking space to be parked. Then, it determines the parking path based on the target parking position and the current position of the current vehicle, and controls the current vehicle to perform the parking action according to the parking path. This solves the problem of traditional parking solutions not considering all factors, which affects the convenience of getting in and out of the current vehicle and nearby vehicles, thus improving the intelligence and user-friendliness of the vehicle parking function.

[0073] The parking control method proposed in the embodiments of this application will be described in detail below.

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

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

[0076] Understandably, the parking space to be parked is the space where the vehicle will be parked. Identifying the parking space is the first step in the entire parking process, requiring careful observation of the surrounding environment to select a suitable spot. The parking space should be spacious enough for the vehicle to park smoothly, while also considering the distance from other vehicles to ensure that parking will not interfere with or scratch them. Furthermore, when choosing a parking space, pay attention to whether the ground markings are clear to ensure that users can park their vehicles in accordance with regulations.

[0077] The following details how to determine the parking space to be parked.

[0078] As one possible implementation, in some embodiments, determining the parking space to be parked includes: acquiring 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, to obtain detection results; and based on the detection results, determining the parking space to be parked from the target parking area.

[0079] Specifically, to achieve intelligent parking, the system first acquires map data of the target parking area through real-time scanning using various map service providers or onboard sensors. Next, based on this map data, a detailed inspection of the target parking area is conducted. The main purpose of this inspection is to identify vacant parking spaces and analyze obstacles near these spaces. These obstacles are diverse, including movable and immovable obstacles. Movable obstacles can include other parked vehicles, passing pedestrians, and temporary traffic cones, while immovable obstacles can include fixed posts, parking barriers, and walls. Through precise detection, the system can identify the specific location and type of these obstacles. After obtaining the inspection results, the system performs further analysis based on this information. By comprehensively considering the number and location of vacant parking spaces and the surrounding obstacles, the system determines the optimal parking space within the target parking area. The selection of this parking space takes into account factors such as parking convenience, safety, and possible driving routes to ensure that users can complete the parking operation smoothly and efficiently.

[0080] In step S102, the parking lines on both sides and the 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 based on the obstacle information and / or the parking lines on both sides, and the target parking position of the current vehicle is determined based on the actual parking area.

[0081] Understandably, to achieve precise parking, it's first necessary to obtain detailed information about the parking space to be parked in. This involves identifying and acquiring the parking line information on both sides of the space, while simultaneously detecting any obstacles on either side. By analyzing the specific location, size, and type of these parking lines and obstacles, the actual parking area corresponding to the space can be further determined. This actual parking area refers to the actual space available for the current vehicle to park within the parking line area on both sides, excluding the space occupied by obstacles. The length of this actual parking area is the length of the current vehicle, and the width is the distance determined between the obstacle information and the parking lines on both sides. Finally, based on the specific dimensions and location of this actual parking area, the target parking position for the current vehicle is further determined, ensuring that the vehicle can safely and accurately park in the designated space, avoiding collisions or scratches with obstacles on either side.

[0082] Next, we will explain in detail how to determine the actual parking area corresponding to the parking space to be parked based on 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 based on the actual parking area.

[0083] As one possible implementation, 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 lines on both sides, and the target parking position of the current vehicle is determined based on the actual parking area, including: determining whether there are parked vehicles on both sides of the parking space to be parked simultaneously based on the obstacle information on both sides; if there are parked vehicles on both sides of the parking space to be parked simultaneously, then 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 midpoint of the first distance.

[0084] Specifically, when performing a parking operation, the first step is to use obstacle information on both sides of the vehicle to determine whether the parking space is already occupied by other vehicles. That is, it checks whether there are parked vehicles on both sides of the parking space. If the detection confirms that vehicles are parked on both sides of the parking space (the position of the parked vehicles can be two vehicles parked simultaneously in the middle of the parking space lines, such as...), then the parking space is considered occupied. Figure 2 As shown in (a), it can also be due to at least one vehicle not being parked in the middle of the parking space line, such as Figure 2 (b) or Figure 2 (c) As shown, the distance between the parked vehicles on both sides can be measured, i.e., the first distance. After measurement, the area formed by the first distance as the width and the length of the current vehicle as the length will be the actual parking area corresponding to the parking space to be parked, and the middle position of the first distance will be the target parking position. Existing parking schemes can be as follows: Figure 2 As shown in (b), the parking effect of this application embodiment can be as follows: Figure 2 As shown in (c). This allows the vehicle to be accurately positioned in the center of the parking space, ensuring a smooth parking process.

[0085] After determining the target parking location, information that may affect the parking experience, such as the condition of the car doors or the road surface when getting in and out of the vehicle, can also be sent to the user. For example, in situations like... Figure 2 In the parking scenario shown in (a), the reminder message 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 can be output as "There is about 15cm left on both sides of the target parking position of the current vehicle, which may affect the opening of the door. Please consider getting out of the car in advance" or "It affects the opening of the door of other vehicles".

[0086] Optionally, 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 method further includes: if there are not 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 are no obstacles on the other side of the parking space to be parked, obtaining a second distance between the parking 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 based on the midpoint of the second distance.

[0087] Specifically, such as Figure 3 As shown, if one side of the parking space to be parked already has a car parked, while the other side is empty and there are no other obstacles, the distance between the corresponding parking line on the other side of the parking space to be parked and the already parked car can be measured. This second distance refers to the distance from the parking line (e.g., the distance from the parking line to the car). Figure 3 (a) Figure 3 Parking line I in (b); or as shown in Figure 3 (c) Figure 3 (d) The horizontal distance between the parking space line IV and the parked vehicle will be used as the width, with the current vehicle's length as the length. The area formed by this distance will be the actual parking area corresponding to the parking space to be parked, and the target parking position will be determined based on the midpoint of the second distance. Existing parking schemes can be as follows: Figure 3 (a) or Figure 3 As shown in (c), the parking effect of this application embodiment can be as follows: Figure 3 (b) or Figure 3 As shown in (d). Therefore, the parking solution of this application embodiment can ensure that the current vehicle can be smoothly parked in the parking space, while avoiding collisions with already parked vehicles.

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

[0089] Optionally, 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 method further includes: if there are not 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 a wall pillar on the other side of the parking space to be parked, determining whether the wall pillar meets the condition of obstructing the opening of the current vehicle door; if the wall pillar meets the condition of obstructing the opening of the current vehicle door, then obtaining the 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 based on the middle position of the third distance.

[0090] Specifically, such as Figure 4 As shown, if a car is already parked in one side of the parking space to be entered, and there is a pillar on the other side, we can first determine whether the pillar will obstruct the opening of the car door. That is, we assess whether the pillar is close enough to the car door to prevent it from opening smoothly after the car is parked. If, after assessment, the pillar does obstruct the door, we can then measure the distance between the pillar and the already parked car in the parking space, known as the "third distance." This third distance refers to the straight-line distance from the pillar to the already parked car. Using the third distance as the width and the length of the car as the length, the area formed is the actual parking area corresponding to the parking space. The target parking position is determined based on the midpoint of this third distance. In other words, parking the car in the middle of the third distance ensures that the door can open smoothly after parking, without being obstructed by the pillar or the car on the other side. Existing parking solutions can be implemented as follows: Figure 4 As shown in (a), the parking effect of this application embodiment can be as follows: Figure 4 As shown in (b). Therefore, the parking solution of this application embodiment can reasonably arrange vehicle parking in a limited space and avoid unnecessary trouble.

[0091] Optionally, in some embodiments, after determining whether the wall post meets the condition of obstructing the current vehicle from opening the door, the method further includes: if the wall post does not meet the condition of obstructing the current vehicle from opening the door, obtaining a fourth distance between the wall post and a vehicle already parked on one side of the parking space to be parked, and determining the target parking position based on the fifth distance between the middle position of the fourth distance and the wall post, that is, how close the target parking position can be to the wall post.

[0092] Specifically, if the wall pillar does not obstruct the opening of the current vehicle door, that is, the wall pillar does not hinder the opening of the car door, the next step is to measure the distance between the wall pillar and the vehicle already parked on one side of the parking space, which is the fourth distance. After obtaining this distance, the target parking position can be determined based on the distance between the middle position of the fourth distance and the wall pillar, which is the fifth distance. In other words, if the wall pillar does not obstruct the opening of the car door, the target parking position can be selected closer to the wall pillar in order to make better use of the space.

[0093] In the above parking scenario, the reminder message can be output as "The pillar near the target location does not affect the door opening. The current vehicle is about 15cm away from the vehicle on the right, which may affect the door opening. Please consider getting out of the car in advance" or "Affects the door opening of other vehicles", etc.

[0094] Optionally, 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 method further includes: if there are not 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 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 based on the middle position of the sixth distance.

[0095] Specifically, if a car is already parked on one side of the parking space to be entered, and the other side is a wall, the distance between the wall and the already parked car on one side of the parking space can be measured (the sixth distance). This sixth distance is used as the width, and the length of the current vehicle is used as the length; the area formed by this distance is the actual parking area corresponding to the parking space to be entered. The target parking position can be determined based on the midpoint of the sixth distance. Existing parking solutions can be like this... Figure 5 As shown in (a), the parking effect of this application embodiment can be as follows: Figure 5 As shown in (b). Therefore, the parking solution of this application embodiment can ensure that when the vehicle is parked in a parking space, it can maintain an appropriate distance from obstacles on both sides, thereby safely completing the parking operation.

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

[0097] Furthermore, when faced with situations where there is standing water in the parking space, affecting users' ability to get in and out of their vehicles, such as... Figure 6As shown, the method mentioned above can also be used to calculate the target parking position of the current vehicle in the parking space. Simultaneously, the output reminder message can be something like, "There is standing water to the left of the target parking position, which may affect getting out of the vehicle. Please consider getting out of the vehicle in advance."

[0098] Furthermore, after determining the target parking position of the current vehicle based on the obstacle information on both sides of the parking space to be parked and / or the parking space lines on both sides, this embodiment of the 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. The current parking plan includes one of selecting parking, selecting another parking space, and canceling parking.

[0099] Specifically, parking preview information can include a simulated parking path, warnings of potential obstacles during parking, and the occupancy status of the parking space after parking. This information helps users comprehensively evaluate the current parking plan. Based on this preview information, users can make more informed decisions and choose the parking plan best suited to the current situation. The current parking plan offers three options: select the current parking plan, select another parking space, and cancel parking. Selecting parking means the user confirms the current parking location and plan, and the system will guide the vehicle to park along the preset path; selecting another parking space indicates that the user is not satisfied with the current parking location and wishes to find another more suitable parking space; canceling parking means the user decides not to proceed with parking temporarily, possibly due to unsuitable parking space conditions or other reasons. In this way, users can flexibly handle various parking situations, ensuring the safety and efficiency of the parking process.

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

[0101] Specifically, to achieve automatic parking, precise calculations and optimized algorithms determine a suitable parking path based on the predetermined target parking location and the vehicle's current position. Once the parking path is determined, the vehicle can be controlled to perform the parking maneuver according to this path, ultimately parking the vehicle accurately in the target parking position.

[0102] In addition, once the parking operation is complete, the system will immediately notify the user that parking has been successfully completed. At the same time, the system will also collect parking information after parking, including parking location, parking time, and relevant information about the surrounding environment, and push this detailed information to the user in real time to ensure that the user can fully understand the specific details of the parking and the surrounding environment, thus improving the user experience.

[0103] To facilitate a better understanding of the parking control method proposed in the embodiments of this application by those skilled in the art, the following is combined with... Figure 7 To elaborate further.

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

[0105] Step S701: Create a map of the target parking area.

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

[0107] Step S703: Select the 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] In step S706, the user selects a final parking plan based on the current parking plan. The current parking plan includes one of the following: selecting a parking space, selecting another parking space, or canceling parking.

[0111] In step S707a, if the user selects an alternative parking space option, then step S702 is executed again.

[0112] Step S707b: When the user selects parking, step S708 is executed.

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

[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 this application, by determining the parking space to be parked and obtaining the parking lines and obstacles on both sides of the parking space, the actual parking area corresponding to the parking space to be parked can be determined based on the obstacle information and / or the parking lines on both sides, and the target parking position of the current vehicle can be determined based on the actual parking area; then, the parking path can be determined based on the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform a parking action based on the parking path. Thus, by using parking lines to distinguish the current vehicle from the obstacles on both sides, the specific target parking position of the current vehicle in the parking space to be parked can be calculated, solving the problem that traditional parking schemes do not consider all factors, affecting the convenience of getting in and out of the current vehicle and nearby vehicles, and improving the intelligence and user-friendliness of the vehicle parking function.

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

[0117] Figure 8 This is a block diagram of a parking control device according to an embodiment of this application.

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

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

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

[0121] The control module 300 is used to determine the parking path based on the target parking location and the current position of the vehicle, and to control the vehicle to perform parking actions based on the parking path.

[0122] Furthermore, in some embodiments, the first determining module 100 is specifically used for:

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

[0124] Based on the map, the system detects available parking spaces in the target parking area, obstacles near the available parking spaces, and the corresponding obstacle types, and obtains the detection results.

[0125] Based on the detection results, parking spaces to be parked are determined from the target parking area.

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

[0127] The judgment unit is used to determine whether there are parked vehicles on both sides of the parking space to be parked, based on the obstacle information on both sides.

[0128] The determining unit is used to obtain a first distance between the two 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 at the same time, and to determine the target parking position based on the midpoint 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 obstacle information on both sides, the determining 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 are no obstacles on the other side of the parking space to be parked, obtain the second distance between the parking 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 midpoint 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 obstacle information on both sides, the determining unit further includes:

[0133] The judgment sub-unit is used to determine whether the wall or pillar meets the condition of obstructing the opening of the current vehicle's door when there are no parked vehicles on both sides of the parking space to be parked at the same time, there is a parked vehicle on one side of the parking space to be parked, and there is a wall or pillar on the other side of the parking space to be parked.

[0134] A sub-unit is defined to obtain the third distance between the wall column and the vehicle already parked on one side of the parking space when the wall column meets the condition of obstructing the current vehicle from opening the door, and to determine the target parking position based on the middle position of the third distance.

[0135] Furthermore, in some embodiments, after determining whether the wall column meets the condition of obstructing the opening of the current vehicle door, the subunit is further configured to:

[0136] When the wall pillar does not meet the condition of obstructing the opening of the current vehicle's door, obtain the fourth distance between the wall pillar and the vehicle already parked on one side of the parking space to be parked, and determine the target parking position based on the fifth distance between the middle position of the fourth distance and the wall pillar.

[0137] Furthermore, 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 determining unit is further configured to:

[0138] If there are no parked vehicles on either side of the parking space to be parked, but 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, obtain the sixth distance between the wall and the parked vehicle on one side of the parking space to be parked.

[0139] The target parking location is determined based on the midpoint of the sixth distance.

[0140] It should be noted that the foregoing explanation of the parking control method embodiment also applies to the parking control device of this embodiment, and will not be repeated here.

[0141] According to the parking control device proposed in this application, by determining the parking space to be parked and acquiring information on the parking lines and obstacles on both sides of the parking space, the actual parking area corresponding to the parking space to be parked can be determined based on the obstacle information and / or the parking lines on both sides, and the target parking position of the current vehicle can be determined based on the actual parking area; then, the parking path can be determined based on the target parking position and the current position of the current vehicle, and the current vehicle can be controlled to perform a parking action based on the parking path. Thus, by using parking lines to distinguish the current vehicle from the obstacles on both sides, the specific target parking position of the current vehicle in the parking space to be parked is calculated, solving the problem that traditional parking solutions do not consider all factors, affecting the convenience of getting in and out of the current vehicle and nearby vehicles, and improving the intelligence and user-friendliness of the vehicle parking function.

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

[0143] The memory 901, the processor 902, and the computer program stored on the memory 901 and capable of running on the processor 902.

[0144] When processor 902 executes the program, it implements the parking control method provided in the above embodiments.

[0145] Furthermore, the vehicle also includes:

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

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

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

[0149] If the memory 901, processor 902, and communication interface 903 are implemented independently, then the communication interface 903, memory 901, and processor 902 can be interconnected via a bus to complete communication between them. 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 address bus, data bus, control bus, etc. For ease of representation, Figure 9The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

[0152] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the parking control method described above.

[0153] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0154] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0155] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A parking control method, characterized in that, Includes the following steps: Identify the parking space to be parked in; Obtain information on the parking lines and obstacles on both sides of the parking space to be parked, and determine the actual parking area corresponding to the parking space to be parked based on the obstacle information and / or the parking lines on both sides, and determine the target parking position of the current vehicle based on the actual parking area. The parking path is determined based on the target parking location and the current location of the current vehicle, and the current vehicle is controlled to perform a parking action based on the parking path. The actual parking area refers to the actual space available for the current vehicle to park within the parking space lines on both sides of the parking space to be parked, excluding the space occupied by obstacles on both sides. The actual parking area has the length of the current vehicle as the length of the parking area and the width of the parking area is determined by the information of the obstacles on both sides and the distance between the parking space lines on both sides. The step of determining the actual parking area corresponding to the parking space to be parked based on 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 based on the actual parking area, includes: if there are no parked vehicles on both sides of the parking space to be parked at the same time, 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 obstructing the current vehicle from opening the door; if the wall pillar meets the condition of obstructing the current vehicle from opening the door, obtaining the 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 based on the middle position of the third distance; After determining whether the wall pillar meets the condition of obstructing the opening of the current vehicle door, the method further includes: if the wall pillar does not meet the condition of obstructing the opening of the current vehicle door, then obtaining the fourth distance between the wall pillar and the vehicle already parked on one side of the parking space to be parked, and determining the target parking position based on the fifth distance between the middle position of the fourth distance and the wall pillar. 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 not 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 are no obstacles on the other side of the parking space to be parked, then obtaining a second distance between the parking 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 based on the midpoint of the second distance.

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

3. The method according to claim 1, characterized in that, The step of determining the actual parking area corresponding to the parking space to be parked based on 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 based on the actual parking area, includes: Based on the obstacle information on both sides, determine whether there are parked vehicles on both sides of the parking space to be parked at the same time; If there are parked vehicles on both sides of the parking space to be parked, then the 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 based on the midpoint 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 at the same time, then if 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, then obtain the 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 based on the midpoint of the sixth distance.

5. A parking control device, characterized in that, include: The first determining module is used to determine the parking space to be parked in; The second determining module is used to obtain the parking lines on both sides and the obstacle information on both sides of the parking space to be parked, and to determine the actual parking area corresponding to the parking space to be parked based on the obstacle information on both sides and / or the parking lines on both sides, and to determine the target parking position of the current vehicle based on the actual parking area. The control module is used to determine a parking path based on the target parking location and the current location of the current vehicle, and to control the current vehicle to perform a parking action based on the parking path. The actual parking area refers to the actual space available for the current vehicle to park within the parking space lines on both sides of the parking space to be parked, excluding the space occupied by obstacles on both sides. The actual parking area has the length of the current vehicle as the length of the parking area and the width of the parking area is determined by the information of the obstacles on both sides and the distance between the parking space lines on both sides. The second determining module is specifically used for: 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, determining whether the wall pillar meets the condition of obstructing the opening of the current vehicle; if the wall pillar meets the condition of obstructing the opening of the current vehicle, then obtaining the 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 based on the middle position of the third distance; After determining whether the wall pillar meets the condition of obstructing the opening of the current vehicle, the second determining module is further configured to: when the wall pillar does not meet the condition of obstructing the opening of the current vehicle, obtain a fourth distance between the wall pillar and a vehicle already parked on one side of the parking space to be parked, and determine the target parking position based on the fifth distance between the middle position of the fourth distance and the wall pillar. 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 second determining module is further configured to: 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 are no obstacles on the other side of the parking space to be parked, obtain a second distance between the parking 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 determine the target parking position based on the midpoint of the second distance.

6. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the parking control method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the parking control method as described in any one of claims 1-4.

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