Automatic parking method and device and intelligent driving equipment

Abstract

The invention discloses an automatic parking method and device and intelligent driving equipment, and the method comprises the steps: determining a target temporary parking area when the intelligent driving equipment cannot continue to drive along a planned path within a preset time period due to the obstruction of an obstacle in a process that the intelligent driving equipment runs along the planned path in a road section, the target temporary parking area is located in a preset range of the intelligent driving equipment, and the distance between the target temporary parking area and a certain boundary of the road section is smaller than or equal to a preset threshold value; and controlling the intelligent driving equipment to park in the target temporary parking area. The method can be applied to intelligent vehicles such as electric vehicles and new energy vehicles, and in the automatic parking process, when intelligent driving equipment is obstructed by obstacles and cannot continue to run according to the planned path, the traffic obstruction degree can be reduced. After the traffic capacity of the road section is recovered, the vehicle can be controlled to be parked out of the temporary parking area to continue driving, the intelligent degree of automatic parking can be improved, and the success rate of automatic parking can be increased.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and more specifically, to an automatic parking method, apparatus and intelligent driving equipment. Background Art

[0002] Automatic parking (AP) refers to the automatic parking of a vehicle, that is, the autonomous driving system can semi-automatically or fully automatically help the user park the vehicle into the parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA) and automatic valet parking (AVP).

[0003] When the current AVP is controlling a vehicle to park in a parking space, or when controlling a vehicle to park out of a parking space and drive to the driver's position, the automatic parking process may be terminated due to obstruction, causing the vehicle to remain on the road and obstruct traffic.

[0004] In view of this, an automatic parking solution that can improve parking flexibility needs to be developed urgently. Summary of the invention

[0005] The present application provides an automatic parking method, device and intelligent driving equipment, which can reduce the degree of obstruction of the intelligent driving equipment to traffic during the automatic parking process and improve the parking flexibility and intelligence of the intelligent driving equipment.

[0006] In a first aspect, an automatic parking method is provided, which can be executed by an intelligent driving device; or, it can also be executed by a computing platform of the intelligent driving device; or, it can also be executed by a chip or circuit used for the intelligent driving device, which is not limited in this application.

[0007] The method includes: in the process of an intelligent driving device driving along a first planned path in a first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue to drive along the first planned path within a first time period, determining a first target temporary parking area, the first target temporary parking area is located within a first range of the intelligent driving device, and the distance between the first target temporary parking area and a first boundary of the first road section is less than or equal to a first threshold; and controlling the intelligent driving device to park in the first target temporary parking area.

[0008] In some implementations, the first obstacle includes, but is not limited to, road traffic participants and general obstacles that hinder the intelligent driving device from traveling. Road traffic participants include, but are not limited to, motor vehicles, non-motor vehicles, and pedestrians, and general obstacles include, but are not limited to, triangular warning signs, cone barrels, and temporary signboards.

[0009] In other implementations, when the road is relatively narrow, the first obstacle may also be a road boundary that hinders the driving of the intelligent driving device.

[0010] Exemplarily, the first duration may be 5 seconds, or 7 seconds, or other durations. The first range may include a range of 10 meters from the outer contour of the intelligent driving device, or other ranges.

[0011] In the above technical solution, during the automatic parking process, when the intelligent driving device is blocked by obstacles and cannot continue to travel along the planned path, the intelligent driving device can be controlled to park in a temporary parking area on the side of the road, thereby reducing the degree of obstruction to traffic and improving the parking flexibility and intelligence of the intelligent driving device.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: obtaining information of one or more temporary parking areas, the one or more temporary parking areas are located within a first range of the intelligent driving device, and the distance between each of the one or more temporary parking areas and the first boundary is less than or equal to a first threshold; determining a first target temporary parking area, including: determining the first target temporary parking area from the one or more temporary parking areas according to the location and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined based on the parking space structure line.

[0013] Exemplarily, when the parking space is a road parking space, the parking space structure line is the parking space line; when the parking space is a mechanical parking space, the parking space structure line is the raised edge at the boundary of the mechanical parking space.

[0014] In some implementations, the degree of obstruction of the temporary stopping area to the traffic of the first road section is determined according to the location and / or type of the temporary stopping area, and then the temporary stopping area with a lower degree of obstruction to the traffic of the first road section is selected as the first target temporary stopping area.

[0015] In some other implementations, when the degree of obstruction of multiple temporary parking areas to the traffic of the first road section is not much different, the difficulty of the intelligent driving device parking in the temporary parking area is determined according to the location and / or type of the temporary parking area, and then the temporary parking area with lower parking difficulty is selected as the first target temporary parking area.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; determining a first target temporary parking area from one or more temporary parking areas includes: determining the first temporary parking area as the first target temporary parking area.

[0017] In the above technical solution, when there are vacant parking spaces and vacant non-parking areas near the road boundary, determining the vacant parking spaces as temporary parking areas helps reduce the degree of road traffic congestion caused by temporary parking of intelligent driving equipment.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the intelligent driving device fails to park in the first target temporary parking area, determining a second planned path based on obstacles in the first road section; and controlling the intelligent driving device to travel along the second planned path.

[0019] Exemplarily, the failure of the intelligent driving device to park in the first target temporary parking area may include the following situations: the path planning from the current position of the intelligent driving device to the first target temporary parking area fails, or the intelligent driving device cannot enter the first target temporary parking area with the target posture.

[0020] In the above technical solution, when the intelligent driving device cannot park in the temporary parking area, a driving path in the first road is planned for the intelligent driving device, and the intelligent driving device is controlled to drive. When the intelligent driving device cannot continue to drive, a path to the temporary parking area is continued to be planned for the intelligent driving device based on this solution. In this way, during the automatic parking process, switching between multiple path planning can be achieved, which helps to improve the success rate of automatic parking.

[0021] In combination with the first aspect, in certain implementations of the first aspect, after the intelligent driving device parks into the first target temporary parking area, the method further includes: controlling the intelligent driving device to enter the first target parking exit area according to the road boundary of the first road section, and the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

[0022] Exemplarily, the first target parking area may be an area indicated by the target parking posture.

[0023] In the above technical solution, after the intelligent driving device is parked in the temporary parking area and the traffic capacity of the first road section is restored, the vehicle can be controlled to park out of the temporary parking area to continue driving, which helps to improve the intelligence level of automatic parking and improve the success rate of automatic parking.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the intelligent driving device fails to enter the first target parking area, controlling the intelligent driving device to park in a second target temporary parking area, the second target temporary parking area is located within a second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to a second threshold.

[0025] In some implementations, the second target temporary stopping area and the first target temporary stopping area may be the same area, the second boundary and the first boundary may be the same boundary, the second range and the first range may be the same range, and the second threshold and the first threshold may be the same value.

[0026] In the above technical solution, when the intelligent driving device cannot park in the target parking area, the path to the temporary parking area is continued to be planned for the intelligent driving device, and the intelligent driving device is controlled to drive. When the intelligent driving device cannot continue to drive, the path to the temporary parking area is continued to be planned for the intelligent driving device based on this solution. After the intelligent driving device is parked in the temporary parking area, the intelligent driving device is controlled to park out of the temporary parking area in a timely manner and to continue driving on the road, which helps to improve the success rate of automatic parking.

[0027] In combination with the first aspect, in certain implementations of the first aspect, the first planned path is any one of the following: a path indicating the intelligent driving device to travel from a current position to a target parking area, a path indicating the intelligent driving device to travel from a target parking area to a position where a driver of the intelligent driving device is located, or a path indicating the intelligent driving device to travel from a third temporary parking area to a target parking exit area; wherein the third temporary parking area is an area where the intelligent driving device is parked before traveling along the first planned path.

[0028] In some implementations, the third temporary parking area and the first target temporary parking area may be the same area, and the target parking-out area and the first target parking-out area may be the same area.

[0029] In a second aspect, an automatic parking device is provided, which includes: a determination unit, used to determine a first target temporary parking area when the intelligent driving device is unable to continue driving along the first planned path within a first time period due to being blocked by a first obstacle during driving of the intelligent driving device along a first planned path in a first road section, the first target temporary parking area being located within a first range of the intelligent driving device, and a distance between the first target temporary parking area and a first boundary of the first road section being less than or equal to a first threshold; and a processing unit, used to control the intelligent driving device to park in the first target temporary parking area.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the device also includes an acquisition unit, which is used to: acquire information of one or more temporary parking areas, the one or more temporary parking areas are located within a first range of the intelligent driving device, and the distance between each of the one or more temporary parking areas and the first boundary is less than or equal to a first threshold; the determination unit is used to: determine a first target temporary parking area from the one or more temporary parking areas based on the location and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined based on the parking space structure line.

[0031] In combination with the second aspect, in certain implementations of the second aspect, one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; the determination unit is used to: determine the first temporary parking area as a first target temporary parking area.

[0032] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is also used to: when the intelligent driving device fails to park in the first target temporary parking area, determine a second planned path based on obstacles in the first road section; the processing unit is also used to: control the intelligent driving device to travel along the second planned path.

[0033] In combination with the second aspect, in certain implementations of the second aspect, after the intelligent driving device parks into the first target temporary parking area, the processing unit is also used to: control the intelligent driving device to enter the first target parking exit area according to the road boundary of the first section, and the first target parking exit area is used for the intelligent driving device to continue driving in the first section.

[0034] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is also used to: when the intelligent driving device fails to enter the first target parking area, control the intelligent driving device to park in the second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to the second threshold.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the first planned path is any one of the following: a path indicating the intelligent driving device to travel from the current position to the target parking area, a path indicating the intelligent driving device to travel from the target parking area to the position of the driver of the intelligent driving device, or a path indicating the intelligent driving device to travel from the third temporary parking area to the target parking exit area; wherein the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

[0036] In a third aspect, an automatic parking device is provided, the device comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device executes the method in any possible implementation of the first aspect.

[0037] In a fourth aspect, an intelligent driving device is provided, which includes an apparatus as in any possible implementation of the second aspect or the third aspect.

[0038] In combination with the fourth aspect, in certain implementations of the fourth aspect, the intelligent driving device is a vehicle.

[0039] In a fifth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation of the first aspect.

[0040] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or may be packaged separately from the processor.

[0041] In a sixth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation manner of the first aspect.

[0042] In a seventh aspect, a chip is provided, the chip comprising a circuit, the circuit being used to execute the method in any possible implementation manner of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a functional block diagram of the intelligent driving device provided in the embodiment of the present application;

[0044] Figure 2 is a schematic diagram of the system architecture required for implementing the automatic parking method provided in the embodiment of the present application;

[0045] Figure 3 is a schematic flow chart of an automatic parking method provided in an embodiment of the present application;

[0046] Figure 4 is another schematic flow chart of the automatic parking method provided in the embodiment of the present application;

[0047] Figure 5 This is a schematic diagram of an application scenario of the automatic parking method provided in an embodiment of the present application;

[0048] Figure 6 This is another application scenario schematic diagram of the automatic parking method provided in the embodiment of the present application;

[0049] Figure 7 is another schematic flow chart of the automatic parking method provided in the embodiment of the present application;

[0050] Figure 8 is another schematic flow chart of the automatic parking method provided in the embodiment of the present application;

[0051] Fig. 9 is a schematic block diagram of an automatic parking device provided in an embodiment of the present application;

[0052] Fig.10It is another schematic block diagram of the automatic parking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] To facilitate understanding of the technical solutions of the embodiments of the present application, the concepts involved in the present application are first introduced:

[0054] Trapped: refers to the state where the intelligent driving device is blocked by obstacles and cannot travel smoothly.

[0055] Escape: It means that the intelligent driving device is freed from the state where it is blocked by obstacles and cannot drive smoothly, so that it can continue to drive.

[0056] Parking cruise: refers to the state where the intelligent driving device is driving at a lower speed when the target parking position has not been determined. Alternatively, parking cruise refers to the state where the intelligent driving device is driving at a lower speed when the intelligent driving device is far away from the target parking position after the target parking position has been determined.

[0057] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 1 is a functional block diagram of the intelligent driving device provided in the embodiment of the present application. Figure 1 As shown, the intelligent driving device 100 may include a perception system 120 and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment around the intelligent driving device 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera device.

[0059] Some or all functions of the intelligent driving device 100 may be controlled by the computing platform 150. The computing platform 150 may include processors 151 to 15n. The processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory, the memory is used to store instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0060] The intelligent driving device 100 may include an advanced driving assistant system (ADAS). ADAS uses a variety of sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.

[0061] In terms of logical functions, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidar, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0062] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained by multiple sensors. The above autonomous driving levels (L0-L5) are based on the grading standards of the Society of Automotive Engineers (SAE). Among them, L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is highly automated; L5 is fully automated. The tasks of monitoring road conditions and responding to L1 to L3 are completed by the driver and the system together, and the driver needs to take over the dynamic driving tasks. L4 and L5 levels allow the driver to completely transform into the role of a passenger. At present, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assist, rear vehicle collision avoidance warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that the above-mentioned various functions may have specific modes under different autonomous driving levels (L0-L5), and the higher the level of autonomous driving, the smarter the corresponding mode. For example, automatic parking may include APA, RPA, and AVP. For APA, the driver does not need to operate the steering wheel, but the driver is still required to operate on the intelligent driving device to monitor the status of the intelligent driving device in real time; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the intelligent driving device outside the intelligent driving device; for AVP, the intelligent driving device can complete parking without a driver. In terms of the corresponding autonomous driving level, APA is approximately at the L2 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0063] In the embodiment of the present application, the computing platform 150 can determine whether to switch the planning mode according to the obstacle information obtained by the perception system 120. The computing platform 150 can also control the intelligent driving device 100 to park in the roadside area when the intelligent driving device 100 is trapped to avoid the intelligent driving device 100 obstructing traffic.

[0064] The intelligent driving devices involved in the embodiments of the present application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense, and may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0065] Figure 2 FIG. 1 is a schematic diagram showing a control system architecture provided by an embodiment of the present application. Figure 2 As shown, the system includes a perception module 210, a planning module 220, a control module 230 and an actuator 240. The perception module 210 may include Figure 1 The one or more sensors in the perception system 120 shown, the planning module 220, and the control module 230 can be respectively Figure 1 One or more processors in computing platform 150 are shown.

[0066] The perception module 210 is used to collect environmental information around the intelligent driving device, and the environmental information includes information such as the location of obstacles around the intelligent driving device. The perception module 210 can input the obstacle information into the planning module 220.

[0067] The planning module 220 includes a cruise planning module 221 , an escape planning module 222 , a parking planning module 223 , a temporary stop planning module 224 and a temporary stop return planning module 225 .

[0068] The cruise planning module 221 is used to plan a parking cruise path for the intelligent driving device. The parking cruise path indicates that the intelligent driving device drives from the current position to the target parking area, or the parking cruise path indicates that the intelligent driving device drives from the target parking area to the position of the driver of the intelligent driving device. When the intelligent driving device cannot continue to drive along the parking cruise path due to obstacles during the parking cruise process, it switches to the escape planning module 222 to plan the escape path; when it drives along the parking cruise path to the vicinity of the target parking area, it switches to the parking planning module 223 to plan the parking path.

[0069] The escape planning module 222 is used to plan an escape path for the intelligent driving device when the intelligent driving device is trapped. The escape path instructs the intelligent driving device to bypass the obstacle that trapped it and continue to drive. When the intelligent driving device successfully escapes along the escape path, it switches to the cruise planning module 221 to continue parking cruise path planning; when the escape path planning fails, or the intelligent driving device cannot escape along the escape path, it switches to the temporary stop planning module 224 to plan the temporary stop path.

[0070] The parking planning module 223 is used to plan the position and path of the intelligent driving device entering the target parking area. When the intelligent driving device successfully parks in the target parking area, the parking process ends; when the intelligent driving device fails to park, it switches to the cruise planning module 221 to continue parking cruise path planning.

[0071] The temporary stop planning module 224 includes a temporary stop area selection module, a target posture generation module, a path planning module and a path tracking module. Among them, the temporary stop area selection module is used to select a target temporary stop area from one or more temporary stop areas, one or more temporary stop areas are located within the preset range of the intelligent driving device, and the distance between each temporary stop area in the one or more temporary stop areas and the first boundary of the road section where the intelligent driving device is currently located is less than or equal to the first threshold. Exemplarily, the temporary stop area selection module can select the target temporary stop area according to the degree of obstruction of one or more temporary stop areas to road traffic. The target posture generation module is used to generate the target posture of the intelligent driving device in the target temporary stop area, and to adjust the target posture in real time. The path planning module is used to plan the temporary stop path of the intelligent driving device from the current posture to the target posture. The path tracking module is used to monitor the driving condition of the intelligent driving device, and when the intelligent driving device enters the target temporary stop area with the target posture, it switches to the temporary stop return module 225 to plan the temporary stop return path; when the intelligent driving device fails to stop temporarily, it switches to the cruise planning module 221 to continue the parking cruise path planning.

[0072] The temporary stop return planning module 225 is used to monitor the road environment around the temporary stop area where the intelligent driving device is located. When the traffic capacity of the road is restored, the temporary stop return planning module 225 plans a temporary stop return path for the intelligent driving device from the temporary stop area to the target parking area according to the road boundary. The target parking area is used for the intelligent driving device to continue driving on the road. When the intelligent driving device successfully enters the target parking area, it switches to the cruise planning module 221 to continue parking cruise path planning; when the intelligent driving device fails to return to the temporary stop, it switches to the temporary stop planning module 224 to plan the temporary stop path.

[0073] The control module 230 can calculate the corresponding control amount according to the path planned by the planning module 220, and output the control amount to the actuator 240. When the actuator 240 executes the control amount, the vehicle is controlled to travel along the planned path. In some possible implementations, the actuator may include a steering and braking control system in the intelligent driving device 100.

[0074] It should be understood that the above modules are only examples, and in actual applications, the above modules may be added or deleted according to actual needs. Figure 2 In the system architecture shown in , the cruise planning module 221, the escape planning module 222, the parking planning module 223, the temporary stop planning module 224 and the temporary stop return planning module 225 can be combined into one module, or the planning module 220 and the control module 230 can also be combined into one module. For another example, the above system also includes a prompt module, which receives information from the planning module 220. When the planning module 220 performs a mode switch, the prompt module sends a prompt message to prompt the occurrence of the mode switch.

[0075] Figure 3 The schematic flow chart of the automatic parking method provided by the embodiment of the present application is shown. The method can be applied to Figure 1 In the intelligent driving device shown, or the method can be performed by Figure 2 The system shown in FIG. 1 is executed. Exemplarily, the method may be executed by the planning module 220. The method 300 may include S301 and S302.

[0076] S301, when an intelligent driving device is driving along a first planned path in a first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue to drive along the first planned path within a first time period, a first target temporary stopping area is determined, the first target temporary stopping area is located within a first range of the intelligent driving device, and a distance between the first target temporary stopping area and a first boundary of the first road section is less than or equal to a first threshold.

[0077] For example, the first road section may be a road section along which the intelligent driving device travels from a current position to a target parking area, or the first road section may be a road section along which the intelligent driving device travels from a parking area to a position where the driver is located.

[0078] In some implementations, the first planned path is any of the following: a path for the intelligent driving device to travel from the current position to the target parking area, a path for the intelligent driving device to travel from the target parking area to the position of the driver of the intelligent driving device, or a path for the intelligent driving device to travel from the third temporary parking area to the target parking exit area. The third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

[0079] It should be noted that the driver's position may be the driver's actual position, or may be a position set by the driver.

[0080] Exemplarily, the first planned path may include the parking cruise path or the temporary stop return path in the above-mentioned embodiment. The first duration may be 5 seconds, or 7 seconds, or other durations. The first range may include a range of 10 meters from the outer contour of the intelligent driving device, or other ranges. The first boundary of the first section may be the left boundary of a one-way lane or the right boundary of a one-way lane. The first boundary may be a boundary determined according to a shoulder, or may be a boundary determined according to a green belt or a separation belt. Among them, shoulders may include but are not limited to hard shoulders and protective shoulders. When the first section is a section in an indoor parking lot, the first boundary may also be a boundary determined according to a wall or a parking space line. In some implementations, when the two boundaries of the first section are boundaries formed by a double yellow line and a shoulder, the first boundary is a boundary formed by the shoulder.

[0081] Exemplarily, the distance between the first target temporary parking area and the first boundary is: the distance between the boundary of the first target temporary parking area closest to the first boundary and the first boundary. The first threshold may be 10 centimeters, or the first threshold may be 15 centimeters, or the first threshold may be other values.

[0082] In some implementations, one or more temporary stopping areas are obtained, and the one or more temporary stopping areas are located within a first range of the intelligent driving device, and a distance between each of the one or more temporary stopping areas and the first boundary is less than or equal to a first threshold.

[0083] In some implementations, a first target temporary parking area is determined from one or more temporary parking areas according to the location and / or type of each temporary parking area. The type of the temporary parking area indicates whether the temporary parking area is determined according to a parking space structure line. The parking space structure line includes a parking space line and a raised edge at a boundary of a mechanical parking space.

[0084] In one example, there are two temporary parking areas, and one temporary parking area is determined according to the parking space structure line, and the other temporary parking area is not determined according to the parking space structure line, then the temporary parking area determined according to the parking space structure line is determined as the target temporary parking area. Among them, the temporary parking area not determined according to the parking space structure line can be a blank area determined according to the position of the obstacle, or the temporary parking area not determined according to the parking space structure line can also be a temporary parking area determined according to other methods. In another example, there are two temporary parking areas, and the types of the two temporary parking areas are the same, then the temporary parking area that is easier for the intelligent driving device to park is determined as the target temporary parking area. Among them, the parking difficulty of the temporary parking area can be determined by the number of times the warehouse is rubbed. In another example, the degree of traffic congestion of each temporary parking area on the first section is determined, and further, the temporary parking area with the lowest degree of traffic congestion on the first section among one or more temporary parking areas is determined as the first target temporary parking area. In another example, the parking difficulty of each temporary parking area can also be determined, and the temporary parking area with lower parking difficulty is determined as the first target temporary parking area.

[0085] In a specific implementation process, any one of the above examples may be used to determine the first target temporary parking area, or a combination of two or more of the above examples may be used to determine the first target temporary parking area.

[0086] In some implementations, the degree of traffic congestion of the temporary parking area on the first road section can be determined according to the location and / or type of the temporary parking area. For example, compared with the temporary parking area not determined according to the parking space structure line, the temporary parking area determined according to the parking space structure line has a lower degree of traffic congestion on the first road section. The degree of traffic congestion of the temporary parking area on the first road section can also be determined according to the distance between the temporary parking area and a specific marker, wherein the specific marker includes bus stops, intersections and other areas that have a greater impact on traffic. For example, compared with the temporary parking area far away from the specific marker, the temporary parking area close to the specific marker has a higher degree of traffic congestion on the first road section.

[0087] S302, controlling the intelligent driving device to park in the first target temporary parking area.

[0088] In some implementations, when the intelligent driving device fails to park in the first target temporary parking area, a second planned path is determined according to obstacles in the first road section, and the intelligent driving device is controlled to travel along the second planned path.

[0089] Exemplarily, the second planned path may be the parking cruise path in the above embodiment.

[0090] Among them, the failure of the intelligent driving device to park in the first target temporary parking area may include the following situations: the path planning from the current position of the intelligent driving device to the first target temporary parking area fails, or the intelligent driving device cannot enter the first target temporary parking area with the target posture.

[0091] In some implementations, after the intelligent driving device parks in the first target temporary parking area, the intelligent driving device is controlled to enter the first target parking exit area according to the road boundary of the first road section. The first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

[0092] The capacity of the first road section indicates the number of vehicles passing through the first road section per unit time. For example, the capacity threshold may be 5 vehicles passing through within 1 minute, or the capacity threshold may be 10 vehicles passing through within 1 minute, or the capacity threshold may be other values.

[0093] Exemplarily, the first target parking-out area may be an area where the target parking-out posture is located, which is determined according to a road boundary of the first road section.

[0094] Exemplarily, the distance between the first target parking area and the boundary of the first road section is greater than or equal to a preset distance. For example, the preset distance may be 0.5 meters, or 1.5 meters, or may be other values.

[0095] In some implementations, when the intelligent driving device fails to enter the first target parking area, the intelligent driving device is controlled to park in the second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to the second threshold.

[0096] Among them, the failure of the intelligent driving device to park into the first target parking area may include the following situations: the path planning from the current temporary parking area of ​​the intelligent driving device to the first target parking area fails, or the intelligent driving device cannot enter the first target parking area with the target posture.

[0097] In a specific implementation process, the second target temporary parking area and the first target temporary parking area may be the same area, the second boundary and the first boundary may be the same boundary, the second range and the first range may be the same range, and the second threshold and the first threshold may be the same value.

[0098] The automatic parking method provided in the embodiment of the present application can control the intelligent driving device to park in a temporary parking area when the intelligent driving device is blocked by an obstacle and cannot continue to drive along the planned path, thereby reducing the degree of obstruction to traffic. After the intelligent driving device is parked in the temporary parking area and the traffic capacity of the first road section is restored, the vehicle can be controlled to park out of the temporary parking area to continue driving, which helps to improve the intelligence level of automatic parking and the success rate of automatic parking.

[0099] The following combination Figures 4 to 6 The automatic parking method in method 300 is described in detail.

[0100] Figure 4 4 is another schematic flow chart of the automatic parking method provided by the embodiment of the present application. Method 400 can be regarded as an extension of method 300, or a further description of method 300, and method 400 includes S401 to S414. Method 400 is described by taking the intelligent driving device as a vehicle as an example.

[0101] S401, obtaining one or more temporary parking areas.

[0102] Exemplarily, the one or more temporary parking areas may be one or more temporary parking areas in the above-mentioned embodiments.

[0103] S402: Determine a target temporary parking area from one or more temporary parking areas.

[0104] Exemplarily, the target temporary parking area may be an example of the first target temporary parking area, or may be an example of the second target temporary parking area. The method of determining the target temporary parking area from one or more temporary parking areas may refer to the description in method 300, which will not be repeated here.

[0105] S403, determining target posture 1 according to the target temporary stopping area.

[0106] For example, after determining the target posture 1 according to the target temporary parking area, a collision detection may be performed on the target posture 1 to determine whether the vehicle will collide with obstacles around the target posture 1 when in the target posture 1. After the collision detection of the target posture 1 passes, S404 is executed.

[0107] For example, collision detection may be performed using a GJK (Gilbert–Johnson–Keerthi) algorithm, or using a separating axis theorem (SAT), or other methods may be used for collision detection.

[0108] S404, plan a temporary parking route.

[0109] Exemplarily, a path search and planning algorithm or a geometric method may be used to generate a path from the current position of the vehicle to the target position 1, which is the temporary stop path. The path search and planning algorithm may be an A* (A-star) algorithm, a hybrid A* algorithm, or an ultrafast A* algorithm.

[0110] S405: Determine whether the temporary stop path planning fails.

[0111] Specifically, when the temporary stop path planning fails, execute S406; otherwise, execute S407.

[0112] For example, if a temporary stop route is generated using a path search and planning algorithm, the temporary stop route planning fails when the path search fails or the time required for a single path search exceeds a preset time. The preset time may be 5 seconds, 10 seconds, or other time.

[0113] S406, determining whether the total duration of the path planning exceeds a preset duration 1.

[0114] Specifically, when the total duration of the route planning exceeds the preset duration 1, it is determined that the temporary stop has failed (S414); otherwise, S402 is executed, that is, the target temporary stop area is reselected.

[0115] The total duration of the route planning may be the total duration calculated from the first determination of the target temporary parking area. For example, the preset duration 1 may be 1 minute, or 2 minutes, or other durations.

[0116] Exemplarily, “the total duration of path planning exceeds the preset duration 1” can be understood as an example of “path planning from the current position of the intelligent driving device to the first target temporary parking area fails”.

[0117] S407, tracking the temporary stop path.

[0118] Exemplarily, pure pursuit (PP) control, Stanley control, proportional-integral-derivative (PID) control, model predictive control and other algorithms may be used to perform stop path tracking.

[0119] S408: Determine whether the vehicle is stopped by an obstacle.

[0120] A vehicle being stopped by an obstacle can be understood as: there is an obstacle in the temporary stopping path, which makes it impossible for the vehicle to continue to travel along the temporary stopping path.

[0121] Exemplarily, when the vehicle is not stopped by an obstacle, S410 is executed; otherwise, S409 is executed.

[0122] S409, re-plan the temporary parking route.

[0123] In some possible implementations, when replanning the temporary stop path, the horizontal / vertical position of the target posture 1 and the posture angle of the target posture 1 can be adjusted to obtain a new target posture, and the temporary stop path can be replanned based on the new target posture.

[0124] When the temporary stop path re-planning fails, if the total duration used for path planning exceeds the preset duration 1, it is determined that the temporary stop has failed (S414); if the temporary stop path re-planning succeeds, S407 is continued.

[0125] A more specific implementation method of replanning the temporary stop path can be referred to the description in S404 to S406, which will not be repeated here.

[0126] S410, determining whether the target posture deviates greatly.

[0127] Exemplarily, the target posture may be the target posture 1, or may be a new target posture obtained by adjusting the target posture 1.

[0128] For example, during vehicle driving, since there may be a deviation between the actual driving path of the vehicle and the planned temporary stop path, a predicted posture can be periodically generated during the process of tracking the temporary stop path. The predicted posture is a possible posture when the vehicle continues to drive along the temporary stop track to the target temporary stop area. If the position and / or attitude angle between the predicted posture and the target posture differ greatly, it is determined that the target posture deviates greatly. Specifically, when the target posture deviates greatly, S409 is executed; otherwise, S411 is executed.

[0129] S411, determining whether a tracking error exceeds a preset threshold.

[0130] For example, the tracking error may be a deviation between the current lateral position of the vehicle and the lateral position of the planned temporary stop path. The preset threshold may be 5%, or 10%, or other values.

[0131] Specifically, when the tracking error exceeds a preset threshold, S409 is executed; otherwise, S412 is executed.

[0132] S412, reaching the target temporary parking area with the target posture.

[0133] Specifically, when the vehicle reaches the target temporary parking area with the target posture, it is determined that the temporary parking is successful (S413); otherwise, it is determined that the temporary parking fails (S414).

[0134] It should be noted that when S408, S410, and S411 are all No, if the vehicle fails to reach the target temporary parking area at the target posture in S412, it may be because the vehicle is stuck at a certain point in time for too long that the planned path cannot be tracked, in which case the temporary parking is determined to have failed.

[0135] S413, temporary stop successful.

[0136] S414, temporary stop failed.

[0137] The automatic parking method provided in the embodiment of the present application can be applied to automatic parking scenarios, such as when a vehicle is traveling toward a target parking area, or when a vehicle is traveling toward the driver's location after parking out of a target parking area.

[0138] Figure 5 The following is a schematic diagram showing an application scenario of the automatic parking method provided by the embodiment of the present application. Figure 5 The diagram shows a schematic plan view of a parking lot, which includes an entrance gate 12 and an exit gate 19 .

[0139] In some implementations, it is assumed that vehicle 11 enters from entrance gate 12. During the process of parking cruise in the parking lot, vehicle 13 is in a parking state and may travel to position 13'. There is a parked vehicle 14 in front of the left side of vehicle 11. The presence of vehicles 13 and 14 hinders vehicle 11 from continuing to move forward. At this time, vehicle 11 can execute method 300 or method 400 to park at position 11', thereby reducing traffic obstruction at the entrance of the parking lot. Among them, the road currently located by vehicle 11 can be understood as an example of a first road section, the first boundary of the first road section can be determined according to wall 15, vehicles 13 and 14 can be understood as an example of a first obstacle, and position 11' can be understood as an example of a first target parking area.

[0140] In some other implementations, it is assumed that vehicle 18 is parked out of a parking space and is about to leave the parking lot, but vehicle 16 and vehicle 17 prevent vehicle 18 from continuing to move forward. At this time, vehicle 18 may execute method 300 or method 400 to park at position 18', position 18", or position 18'", thereby reducing traffic obstruction at the exit of the parking lot. Among them, vehicle 16 and vehicle 17 may be understood as an example of a first obstacle, and the road where vehicle 18 is currently located may be understood as an example of a first road section. If the boundaries of the first road section may be boundaries a and b determined according to parking space lines, position 18' may be understood as an example of a first target parking area. Exemplarily, when there are parking spaces around vehicle 18 where no vehicles are parked, the boundaries of the first road section may also be boundaries c and d determined according to parking space lines and walls, respectively, and position 18' and position 18'' may be understood as other examples of the first target parking area.

[0141] Figure 6 FIG. 2 shows another application scenario of the automatic parking method provided in the embodiment of the present application. Figure 6(a) and (b) in the figure are schematic diagrams of a one-way road, on the roadside of which roadside parking spaces numbered "0043", "0044", "0045", and "0046" are arranged. In addition, there is a blank area 24 for parking between the parking spaces numbered "0045" and "0046". When vehicle 21 is traveling on the current road, if vehicle 21 cannot move forward due to a collision between vehicle 25 and vehicle 26, or if vehicle 25 or vehicle 26 fails, vehicle 21 may execute method 300 or method 400 to park at position 21'. The road currently located by vehicle 21 may be understood as an example of a first road section, vehicle 25 and / or vehicle 26 may be understood as an example of a first obstacle, and if the first boundary may be a boundary determined according to the shoulder of the road on the right side of vehicle 21, the parking space numbered "0046" may be understood as an example of a first target parking area.

[0142] After the vehicle is parked in the target parking area, the vehicle can monitor the traffic conditions on the first road section and then return to the first road section to continue driving in a timely manner.

[0143] Figure 7 1 is another schematic flow chart of the automatic parking method provided by the embodiment of the present application. Method 500 can be regarded as an extension of method 300. Method 500 can be performed after method 300 or method 400; for example, method 500 can be performed after S302 or S414. Method 500 includes S501 to S510.

[0144] S501, obtaining road structure information.

[0145] Exemplarily, the road structure information may indicate a road boundary of the first road segment.

[0146] S502: Generate target posture 2 according to road structure information.

[0147] For example, a parking guide line may be generated according to the road structure information, and the target posture 2 may be generated according to the parking guide line and the obstacle position in the first road section. The parking guide line may be the road centerline of the first road section.

[0148] Exemplarily, the method for generating the target posture 2 according to the parking guide line and the obstacle position may be as follows:

[0149] The seed point can be determined according to the information of the parking guide line, and the seed point can include the position and posture that most users usually park when controlling the vehicle to park out of the parking space. Among them, the seed point can be determined by a big data algorithm, or it can also be determined by other methods. The seed point can meet the following conditions: without considering the position of obstacles on the road, after the vehicle is parked to the seed point, the posture of the vehicle at the seed point can make the vehicle's driving direction parallel to the road tangent. Determine the parking posture area according to the seed point, and then discretize the parking posture area, traverse the scattered points starting from the seed point, and obtain a parking posture set, which includes one or more parking postures. Then, according to the position of the obstacle in the first section, use the A* detection algorithm to determine that the parking posture in the parking posture set that is feasible and closest to the seed point is the target posture 2. The above "feasible" means that the obstacle will not affect the vehicle from the temporary parking area to the area indicated by the target posture 2.

[0150] S503, planning a return path after a temporary stop.

[0151] Exemplarily, a path search planning algorithm or a geometric method may be used to generate a path from the current position of the vehicle to the target position 2, which is the temporary stop return path.

[0152] S504, determining whether the temporary stop return path planning fails.

[0153] Specifically, when the temporary stop return path planning fails, execute S406; otherwise, execute S407.

[0154] For example, if a path search and planning algorithm is used to generate a temporary stop return path, when the path search fails or the time required for a single path search exceeds a preset time, it is determined that the temporary stop path planning has failed. The preset time may be 5 seconds, 10 seconds, or other time.

[0155] S505, determining whether the time required for path planning exceeds a preset time 2.

[0156] Specifically, when the total duration of path planning exceeds the preset duration 2, it is determined that the temporary stop return fails (S510); otherwise, S502 is executed, that is, the target posture is regenerated.

[0157] The total duration of path planning may be the total duration counted from the first generation of the target posture 2. Exemplarily, the preset duration 2 may be 1 minute, or 2 minutes, or other durations.

[0158] For example, "the total duration of path planning exceeds the preset duration 2" can be understood as an example of "the path planning from the current temporary parking area of ​​the intelligent driving device to the first target parking area fails".

[0159] S506, determining the arrival time for temporary stop and return.

[0160] In one example, when it is detected that the first obstacle has eliminated the obstruction to the first planned path, or when the traffic capacity of the first road section is greater than or equal to the traffic capacity threshold, it is determined that the temporary stop and return timing has been reached.

[0161] In another example, a fast search algorithm (such as a fast A* detection algorithm) can be used to perform a fast search calculation on multiple target postures within a preset range of the first road section with the current vehicle posture as the starting point. If the series of calculations are successful and are not interrupted by the search collision, it is determined that the time to stop and return has been reached.

[0162] S507, tracking the temporary stop return path.

[0163] Exemplarily, algorithms such as PP control, Stanley control, PID control, and model predictive control may be used to track the temporary stop return path.

[0164] S508, determining whether the vehicle returns successfully.

[0165] When the vehicle travels to the target posture 2, it is determined that the vehicle returns successfully (S509); otherwise, it is determined that the vehicle returns failed (S510).

[0166] S509, temporary stop return successful.

[0167] S510, temporary stop return failed.

[0168] Exemplarily, after the vehicle returns from temporary parking successfully, the parking cruise path planning continues to be executed.

[0169] In order to make the readers more clear about the relationship between the method 400, the method 500 and the parking cruise provided in the embodiment of the present application, the following is combined with Figure 8 How to switch between tasks when the vehicle is parked in the target parking area is described. It should be noted that a task is an abstract concept of a thread's time slice. There is a one-to-one correspondence between a task and a thread's time slice, that is, a time slice of a thread is a task.

[0170] Figure 8 The method 600 shown can be applied to Figure 1 In the intelligent driving device shown, or the method can be performed by Figure 2 The system shown in FIG. 1 is executed. Exemplarily, the method may be executed by the planning module 220. The method 600 may include S601 to S612.

[0171] S601, cruise mission operation.

[0172] For example, the cruise mission can be Figure 2The cruise planning module 221 shown is executed, and the cruise task is executed so that the vehicle can travel along the parking cruise path. Among them, the planning method of the parking cruise path can refer to the relevant description of the planning of the temporary stop path and the temporary stop return path, which will not be repeated here.

[0173] S602, determining that the vehicle is stationary for a period of time exceeding a preset period 3.

[0174] In some implementations, the environment surrounding the vehicle is too complex, which may cause the path planning to exceed the capability limit of the algorithm used to plan the path in the vehicle, causing the vehicle to be stationary for an excessively long period of time.

[0175] Exemplarily, the preset duration 3 may be 5 minutes, or 6 minutes, or may be other durations. Exemplarily, the preset duration 3 is greater than the preset duration 2, and the preset duration 2 is greater than the preset duration 1.

[0176] Specifically, when the vehicle stationary time exceeds a preset time of 3, it is determined that the cruise mission is ended; otherwise, S603 is executed.

[0177] S603', mission completed.

[0178] S603: Determine whether the distance between the vehicle and the target parking area is less than or equal to a preset distance.

[0179] For example, the distance between the vehicle and the target parking area may be the shortest distance between the outer contour of the vehicle and the boundary of the target parking area, or may be the distance between the center of the vehicle and the center of the target parking area.

[0180] Exemplarily, the preset distance may be 3 meters, or 5 meters, or other distances.

[0181] Specifically, when the distance between the vehicle and the target parking area is less than or equal to the preset distance, S604 is executed; otherwise, S607 is executed.

[0182] S604, switching to the automatic parking task.

[0183] For example, the automatic parking task can be performed by Figure 2 The parking planning module 223 shown is executed, and the automatic parking task is executed to make the vehicle drive to the target parking area.

[0184] S605, determining whether parking into the target parking area fails.

[0185] Specifically, when the vehicle fails to park in the target parking area, S601 is executed; otherwise, S606 is executed.

[0186] S606, end the parking process.

[0187] Exemplarily, after the parking process is completed, the vehicle is powered off and the engine is turned off.

[0188] S607, determining whether the escape condition is met.

[0189] Specifically, if the escape condition is met, execute S608; otherwise, execute S601.

[0190] S608, switch to the escape mission.

[0191] For example, the escape task can be Figure 2 The escape planning module 222 shown is executed, and the escape task is run so that the vehicle can travel along the escape planning path.

[0192] S609, determining whether the escape has failed.

[0193] Exemplarily, when the vehicle cannot escape from the jam, it is determined that the escape has failed; when the vehicle escapes from the jam, it is determined that the escape has succeeded.

[0194] Specifically, when the escape fails, execute S610; otherwise, execute 601.

[0195] S610, switch to the temporary stop task.

[0196] For example, the temporary stop task can be Figure 2 The temporary stop planning module 224 is shown to execute, and the temporary stop task is executed so that the vehicle drives along the temporary stop path to the target temporary stop area. For a more specific method of controlling the vehicle to drive to the target temporary stop area, reference can be made to the description in method 400, which will not be repeated here.

[0197] S611, determine whether the temporary stop fails.

[0198] The reasons for the temporary stop failure can be referred to the description in method 400 and will not be repeated here.

[0199] Specifically, when the temporary stop fails, execute S601; otherwise, execute S612.

[0200] S612, switch to the temporary stop return task.

[0201] For example, the temporary stop return task can be Figure 2 The temporary stop return planning module 225 is shown to execute, and the temporary stop return task is executed to make the vehicle drive out of the target temporary stop area. For a more specific method of controlling the vehicle to drive out of the target temporary stop area, reference can be made to the description in method 500, which will not be repeated here.

[0202] S613, determining whether the temporary stop return fails.

[0203] The reasons for the temporary stop failure can be referred to the description in method 500 and will not be repeated here.

[0204] Specifically, when the temporary stop return fails, execute S610; otherwise, execute S601.

[0205] The automatic parking method provided in the embodiment of the present application can switch between multiple tasks according to the actual road conditions during the automatic parking process, thereby improving the success rate of parking. In addition, the automatic parking method in the above embodiment also helps to improve the humanization level of automatic parking.

[0206] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0207] Combined with the above Figures 1 to 8 The automatic parking method provided by the embodiment of the present application is described in detail. Fig. 9 and Fig.10 The automatic parking device provided by the embodiment of the present application is described in detail. It should be understood that the description of the automatic parking device embodiment corresponds to the description of the method embodiment, so the contents not described in detail can be referred to the method embodiment above, and will not be repeated here for the sake of brevity.

[0208] Fig. 9 The schematic block diagram of the automatic parking device 2000 provided in the embodiment of the present application is shown, and the device 2000 may include units for executing the method 300, the method 400, the method 500, and the method 600. In addition, each unit in the device 2000 is for implementing the corresponding process of the embodiments in the method 300, the method 400, the method 500, and the method 600.

[0209] Specifically, the device 2000 includes a determination unit 2010 and a processing unit 2020. The determination unit 2010 is used to: during the process of the intelligent driving device driving along the first planned path in the first road section, when the intelligent driving device is blocked by the first obstacle and cannot continue to drive along the first planned path within a first time period, determine a first target temporary parking area, the first target temporary parking area is located within the first range of the intelligent driving device, and the distance between the first target temporary parking area and the first boundary of the first road section is less than or equal to the first threshold; the processing unit 2020 is used to: control the intelligent driving device to park in the first target temporary parking area.

[0210] In some implementations, the device also includes an acquisition unit, which is used to: acquire information of one or more temporary parking areas, where the one or more temporary parking areas are located within a first range of the intelligent driving device, and the distance between each of the one or more temporary parking areas and the first boundary is less than or equal to a first threshold; the determination unit 2010 is used to: determine a first target temporary parking area from the one or more temporary parking areas based on the location and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined based on the parking space structure line.

[0211] In some implementations, one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; the determination unit 2010 is used to: determine the first temporary parking area as the first target temporary parking area.

[0212] In some implementations, the determination unit 2010 is further used to: when the intelligent driving device fails to park in the first target temporary parking area, determine a second planned path based on obstacles in the first road section; the processing unit 2020 is further used to: control the intelligent driving device to travel along the second planned path.

[0213] In some implementations, after the intelligent driving device parks in the first target temporary parking area, the processing unit 2020 is also used to: control the intelligent driving device to enter the first target parking exit area according to the road boundary of the first road section, and the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

[0214] In some implementations, the processing unit 2020 is also used to: when the intelligent driving device fails to enter the first target parking area, control the intelligent driving device to park in the second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to the second threshold.

[0215] In some implementations, the first planned path is any one of the following: a path indicating the intelligent driving device to travel from a current position to a target parking area, a path indicating the intelligent driving device to travel from a target parking area to a position where a driver of the intelligent driving device is located, or a path indicating the intelligent driving device to travel from a third temporary parking area to a target parking exit area; wherein the third temporary parking area is an area where the intelligent driving device is parked before traveling along the first planned path.

[0216] Exemplarily, the determining unit 2010 and the processing unit 2020 may be arranged in Figure 2In the system shown in FIG. 1 , more specifically, the determination unit 2010 may be disposed in the planning module 220, and the processing unit 2020 may be disposed in the control module 230. For example, the operations performed by the determination unit 2010 and the processing unit 2020 may be performed by one processor, or may be performed by different processors. In a specific implementation process, the one or more processors may be disposed in Figure 1 The processor in the intelligent driving device 100 shown in the figure; or, the above-mentioned device 2000 can be a chip set in the intelligent driving device 100.

[0217] In the specific implementation process, the various units in the above device can be fully or partially integrated together, or can also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0218] Fig.10 It is another schematic block diagram of the automatic parking device provided in an embodiment of the present application. Fig.10 The automatic parking device 2100 shown may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path, the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface, or may be integrated with the processor 2110.

[0219] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to achieve communication between the device 2100 and other devices or a communication network.

[0220] The memory 2130 may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM may be used as an external cache. As an example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous connection dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0221] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2110 and other devices or a communication network to receive / send data / information used to implement the methods in the above embodiments.

[0222] The embodiment of the present application further provides a computing platform, which includes the automatic parking device 2000 or the automatic parking device 2100 in the above embodiment.

[0223] An embodiment of the present application further provides an intelligent driving device, which includes the computing platform in the above embodiment; or, the intelligent driving device includes the automatic parking device 2000 or the automatic parking device 2100 in the above embodiment.

[0224] An embodiment of the present application further provides a computer program product, which includes a computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0225] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0226] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0227] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0228] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0229] The prefixes such as "first" and "second" used in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers used to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0230] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0231] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0232] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0233] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0234] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic parking method, characterized in that: include: During the process of the intelligent driving device driving along the first planned path in the first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue to drive along the first planned path within a first time period, determining a first target temporary stopping area, the first target temporary stopping area is located within a first range of the intelligent driving device, and a distance between the first target temporary stopping area and a first boundary of the first road section is less than or equal to a first threshold; Control the intelligent driving device to park in the first target temporary parking area.

2. The method according to claim 1, characterized in that: The method further comprises: Acquire information of one or more temporary stopping areas, where the one or more temporary stopping areas are located within the first range of the intelligent driving device, and a distance between each of the one or more temporary stopping areas and the first boundary is less than or equal to the first threshold; The determining of the first target temporary parking area includes: The first target temporary parking area is determined from the one or more temporary parking areas according to the position and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined according to the parking space structure line.

3. The method according to claim 2, characterized in that The one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; The determining the first target temporary parking area from one or more temporary parking areas includes: The first temporary parking area is determined as a first target temporary parking area.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When the intelligent driving device fails to park in the first target temporary parking area, determining a second planned path according to obstacles in the first road section; Control the intelligent driving device to travel along the second planned path.

5. The method according to any one of claims 1 to 3, characterized in that The method further comprises: According to the road boundary of the first road section, the intelligent driving device is controlled to enter a first target parking exit area, where the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

6. The method according to claim 5, characterized in that The method further comprises: When the intelligent driving device fails to enter the first target parking exit area, the intelligent driving device is controlled to park in a second target temporary parking area, where the second target temporary parking area is located within a second range of the intelligent driving device, and a distance between the second target temporary parking area and a second boundary of the first road section is less than or equal to a second threshold.

7. The method according to any one of claims 1 to 6, characterized in that The first planned path is any one of the following: a path for the intelligent driving device to travel from a current position to a target parking area, a path for the intelligent driving device to travel from the target parking area to a position where a driver of the intelligent driving device is located, or a path for the intelligent driving device to travel from a third temporary parking area to a target parking exit area; Among them, the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

8. An automatic parking device, characterized in that: include: a determining unit, configured to determine a first target temporary stopping area when the intelligent driving device is unable to continue to drive along the first planned path within a first time period due to being blocked by a first obstacle during the process of the intelligent driving device driving along the first planned path in the first road section, the first target temporary stopping area being located within a first range of the intelligent driving device, and a distance between the first target temporary stopping area and a first boundary of the first road section being less than or equal to a first threshold; A processing unit is used to control the intelligent driving device to park in the first target temporary parking area.

9. The device according to claim 8, characterized in that The device further comprises an acquisition unit, wherein the acquisition unit is configured to: Acquire information of one or more temporary stopping areas, where the one or more temporary stopping areas are located within the first range of the intelligent driving device, and a distance between each of the one or more temporary stopping areas and the first boundary is less than or equal to the first threshold; The determination unit is used to determine the first target temporary parking area from the one or more temporary parking areas according to the position and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined according to the parking space structure line.

10. The device according to claim 9, characterized in that The one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; The determining unit is used to determine the first temporary parking area as a first target temporary parking area.

11. The device according to any one of claims 8 to 10, characterized in that The determining unit is further configured to: When the intelligent driving device fails to park in the first target temporary parking area, determining a second planned path according to obstacles in the first road section; The processing unit is also used to: control the intelligent driving device to travel along the second planned path.

12. The device according to any one of claims 8 to 10, characterized in that The processing unit is also used for: According to the road boundary of the first road section, the intelligent driving device is controlled to enter a first target parking exit area, where the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

13. The device according to claim 12, characterized in that The processing unit is also used for: When the intelligent driving device fails to enter the first target parking exit area, the intelligent driving device is controlled to park in a second target temporary parking area, where the second target temporary parking area is located within a second range of the intelligent driving device, and a distance between the second target temporary parking area and a second boundary of the first road section is less than or equal to a second threshold.

14. The device according to any one of claims 8 to 13, characterized in that The first planned path is any one of the following: a path for the intelligent driving device to travel from a current position to a target parking area, a path for the intelligent driving device to travel from the target parking area to a position where a driver of the intelligent driving device is located, or a path for the intelligent driving device to travel from a third temporary parking area to a target parking exit area; Among them, the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

15. An automatic parking device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 7.

16. An intelligent driving device, characterized in that: The intelligent driving device comprises the apparatus as claimed in any one of claims 8 to 15.

17. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 7.

18. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 7.

Images