Parking space determination method and device and storage medium

Abstract

The invention discloses a parking space determination method and device and a storage medium. The method comprises the steps that it is detected that a target vehicle is currently located in a preset distance range of a target parking space; obtaining a current environment map constructed by the target vehicle for current parking and a reference map constructed during historical parking; and determining a target parking space from the current environment map based on a map matching result of the current environment map and the reference map. Through the above mode, the parking space determination accuracy can be ensured, and the parking space determination efficiency can be improved.

Description

Technical Field

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

[0002] In the continuous development of automatic parking technology, how to accurately and efficiently determine the location of parking spaces has always been a research focus. Currently, there are methods for determining parking spaces based on map matching, but this method has some shortcomings. For example, some systems continue to perform map matching throughout the entire parking process, which not only increases the amount of calculation, but also may introduce unnecessary matching errors. Therefore, in the development of automatic parking technology, how to optimize the map matching strategy, reduce unnecessary computing consumption and matching errors, and improve the accuracy and efficiency of parking space determination has become an urgent problem to be solved. Summary of the invention

[0003] The main technical problem solved by the present application is to provide a parking space determination method, device and storage medium, which can improve the efficiency of parking space determination while ensuring the accuracy of parking space determination.

[0004] To solve the above technical problems, a technical solution adopted in the present application is: to provide a parking space determination method, the method comprising: detecting that a target vehicle is currently located within a preset distance range of a target parking space; obtaining a current environment map constructed by the target vehicle for this parking, and a reference map constructed during historical parking; and determining the target parking space from the current environment map based on the map matching results of the current environment map and the reference map.

[0005] Among them, based on the map matching results of the current environment map and the reference map, the target parking space is determined from the current environment map, including: optimizing the current position of the target vehicle based on the map matching results to obtain the current target position of the target vehicle in the world coordinate system; based on the target position of the target vehicle, determining the target parking space from the current environment map.

[0006] Among them, the current position of the target vehicle is optimized based on the map matching result to obtain the current target position of the target vehicle in the world coordinate system, including: taking the current position of the target vehicle as an optimization variable, and taking the first difference between the current environment map and the reference map as an optimization target, and constructing an objective function; iteratively optimizing the objective function until the second difference between the current position obtained by this optimization and the current position obtained by the last optimization is no greater than a preset difference threshold, or the number of iterative optimizations reaches a preset number; and taking the current position obtained by the last optimization as the target position.

[0007] Among them, the current position of the target vehicle is obtained by fusion of the first position of the target vehicle in the world coordinate system and the current second position of the target vehicle when the preset conditions are met. The second position is the current position of the target vehicle in the relative coordinate system, and the relative coordinate system is constructed with the first position as the coordinate origin; the preset conditions include detecting that the satellite signal strength is less than a preset strength threshold and entering the parking lot. The first position is obtained by satellite positioning, and the second position is obtained by using the driving data of the target vehicle.

[0008] Among them, obtaining the current environment map constructed by the target vehicle during this parking includes: obtaining the initial environment map constructed by the target vehicle during this parking; the initial environment map is an environment map constructed by using the perceived environment information of the target vehicle during driving and expressed in a relative coordinate system; based on the second position of the target vehicle, the initial environment map is converted to the current body coordinate system of the target vehicle to obtain the initial environment map expressed in the current body coordinate system; according to the current position of the target vehicle, the initial environment map expressed in the current body coordinate system is converted to the world coordinate system to obtain the current environment map.

[0009] Among them, the current environment map includes at least one candidate parking space; based on the target position of the target vehicle, the target parking space is determined from the current environment map, including: obtaining a first distance between the target position of the target vehicle and the target parking space position of the target parking space, and a second distance between the target position and the candidate parking space position of each candidate parking space; determining a third difference between the first distance and each second distance; and taking the candidate parking space corresponding to the smallest of each third difference as the target parking space.

[0010] The target location is obtained based on a matching result between at least part of the first map points in the current environment map and at least part of the second map points in the reference map.

[0011] Among them, the current environment map and the reference map are both constructed using the local environment area of ​​the parking lot; the reference map is an environment map within a preset range of the target parking space; and / or the current environment map and the reference map are expressed in the same world coordinate system.

[0012] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, comprising a memory and a processor coupled to each other, the memory storing program instructions; the processor is used to execute the program instructions stored in the memory to implement the above method.

[0013] In order to solve the above technical problem, another technical solution adopted by the present application is: providing a computer-readable storage medium for storing program instructions, which can be executed to implement the above method.

[0014] In the above scheme, when the target vehicle is within the preset distance range of the target parking space, the current environment map constructed in this parking is matched with the reference map constructed in the previous parking, and the target parking space is determined from the current environment map according to the matching result, so as to park the target vehicle in the target parking space. Compared with the method of matching the map from the beginning of searching for a parking space without considering the distance between the target vehicle and the target parking space, the method of matching the map only when the target parking space is adjacent to the target parking space mentioned above in this application can effectively reduce unnecessary computing consumption, reduce the complexity of parking space determination, and thus improve the efficiency of parking space determination; at the same time, this method uses the matching results of the current environment map and the reference map to determine the parking space, which can ensure the accuracy of parking space determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of an embodiment of a parking space determination method provided by the present application;

[0016] Figure 2 is a schematic diagram of an embodiment of determining the current position of a target provided by the present application;

[0017] Figure 3 yes Figure 1 The flowchart of step S12 is shown as an embodiment;

[0018] Figure 4 yes Figure 1 The flowchart of step S13 is shown as an embodiment;

[0019] Figure 5 is a schematic diagram of a framework of an embodiment of a parking space determination device provided by the present application;

[0020] Figure 6 It is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application;

[0021] Figure 7 It is a schematic diagram of the framework of the computer-readable storage medium provided by this application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0024] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of the parking space determination method provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not necessarily use Figure 1 The process sequence shown is limited. Figure 1 As shown, this embodiment includes:

[0025] S11: It is detected that the target vehicle is currently located within a preset distance range of the target parking space.

[0026] This embodiment is used to perform map matching on the current environment map constructed by this parking and the reference map constructed by the previous parking when it is detected that the target vehicle is currently located within the preset distance range of the target parking space, obtain the corresponding map matching result, and then determine the target parking space from the current environment map based on the map matching result. The specific preset distance range can be determined according to the actual parking effect.

[0027] The target parking space is a fixed parking space for the target vehicle, or a parking space where the target vehicle has previously parked. In this embodiment, the position of the target parking space is known.

[0028] It should be noted that whether the target vehicle is currently within the preset distance range of the target parking space is determined based on the distance difference between the target parking space position of the target parking space and the current position of the target vehicle. If the distance difference is within the preset distance range, it is determined that the target vehicle is currently detected to be within the preset distance range of the target parking space.

[0029] Among them, before this parking, a reference map of the environment near the target parking space has been constructed, and the position of the target parking space is saved in the map. In this embodiment, the position of the target parking space retained when the map was constructed in the past is used as the target parking space position of the target parking space; the current position of the target vehicle can be determined based on the vehicle satellite positioning coordinates (such as GPS positioning coordinates) and / or the driving data of the target vehicle.

[0030] To facilitate understanding of how to determine the current position of a target vehicle based on the vehicle satellite positioning coordinates (e.g., GPS positioning coordinates) and / or the target vehicle's driving data, the following takes the current position of the target vehicle determined based on the vehicle satellite positioning coordinates and the target vehicle's driving data as an example to illustrate the process of determining the current position of the target vehicle.

[0031] In one embodiment, the current position of the target vehicle is obtained by integrating the first position of the target vehicle in the world coordinate system and the current second position of the target vehicle when the preset conditions are met. The second position is the current position of the target vehicle in the relative coordinate system. The relative coordinate system is constructed with the first position as the coordinate origin. The position in the relative coordinate system can be called the relative position. The preset conditions include detecting that the satellite signal strength is less than a preset strength threshold and entering a parking lot. The first position is obtained by using satellite positioning, and the second position is obtained by using the driving data of the target vehicle.

[0032] In simple terms, the satellite positioning position when the satellite signal strength is detected to be less than the preset strength threshold and / or the target vehicle enters the parking lot is used as the first position of the target vehicle in the world coordinate system, and the relative coordinate system is constructed with the first position as the coordinate origin, and the current position of the target vehicle in the relative coordinate system is used as the second position, and then the second position is merged with the first position (for example, superimposed), that is, the current position of the target vehicle. It can be understood that the current position is the world coordinate expressed in the world coordinate system. Among them, the second position expressed in the relative coordinate system is obtained using the driving data of the target vehicle, such as driving time, speed and driving direction.

[0033] For example, see Figure 2 , Figure 2 It is a schematic diagram of an embodiment of determining the current position of a target provided by the present application. Figure 2 In the figure, the absolute positioning trajectory represented by the thick line segment is the vehicle driving trajectory expressed in the world coordinate system, and the relative positioning trajectory represented by the thin line segment is the vehicle driving trajectory expressed in the relative coordinate system. The intersection of the thick line and the thin line represents the sampling point, at which the first position of the absolute positioning is collected and determined as the starting point of the relative positioning (i.e., the coordinate origin). Subsequently, the current position of the target vehicle (expressed in the world coordinate system) can be determined by splicing the relative positioning trajectory corresponding to the current position of the target vehicle with the absolute positioning trajectory.

[0034] Figure 2The implementation scenario shown is an underground parking scenario. It is understandable that when entering an underground parking lot, the satellite positioning signal becomes weak. If the satellite positioning coordinates continue to be used as the current position of the target vehicle, a large error will occur in the current position of the target vehicle due to inaccurate positioning. Therefore, in order to solve this problem, when it is detected that the satellite signal strength is less than a preset strength threshold or the target vehicle enters the parking lot, the first position of the vehicle at that moment can be recorded, and the position of the target vehicle relative to the relative coordinate system at each moment can be determined from the first position, and the position of the vehicle in the relative coordinate system is superimposed with the first position to obtain the position of the target vehicle relative to the world coordinate system at each moment.

[0035] Furthermore, some underground parking lots include multiple floors. The floor of the underground parking lot where the target vehicle is located can be determined based on the height difference between the current position of the target vehicle in the relative coordinate system and the origin of the relative coordinate system, thereby helping the target vehicle determine whether the current floor is the floor where the target parking space is located.

[0036] The above is just an example of an underground parking lot. In some embodiments, even in a ground parking lot, the second position can be determined using the vehicle satellite positioning coordinates and the driving data of the target vehicle, and the current position of the target vehicle can be determined by fusing the satellite positioning coordinates and the second position.

[0037] Of course, in other embodiments, in scenarios where particularly accurate positioning is not required, only the coordinates of the current satellite positioning may be used as the current position of the target vehicle, or the coordinates of the target vehicle in the relative coordinate system may be used as the current position of the target vehicle.

[0038] S12: Obtaining a current environment map constructed by the target vehicle for this parking and a reference map constructed during previous parkings.

[0039] Among them, when the target vehicle parks for the first time, when the target vehicle approaches the target parking space (for example, when the target vehicle is within a preset distance range of the target parking space), it starts to build an environment map based on the perceived surrounding environment information, and after parking in the target parking space, saves the position of the target parking space and the constructed environment map.

[0040] When the target vehicle starts to build the map, it will continuously sense information such as parking spaces, pillars, speed bumps, etc. At the same time, the position of the vehicle is constantly changing. The goal of building the map is to integrate the perceived parking spaces and other environmental information to form a map. Generally speaking, the perceived environmental information is expressed in the vehicle body coordinate system at the corresponding moment of environmental perception. Therefore, in the process of building the environmental map, the perceived information can be spliced ​​together according to the position of the vehicle's trajectory points during driving to construct the corresponding environmental map. For example, the position of the vehicle's trajectory point is expressed in the world coordinate system. According to the position of the vehicle's trajectory point, the environmental information perceived at each position and expressed in the vehicle body coordinate system can be converted to be expressed in the world coordinate system. Among them, the vehicle body coordinate system can be understood as a coordinate system constructed with a certain position of the vehicle as the coordinate origin, so the origin of the vehicle body coordinate system will change with the change of the vehicle's position.

[0041] Of course, if the position of the vehicle trajectory point is expressed in a preset relative coordinate system, the environmental information perceived by the target vehicle at each position expressed in the vehicle body coordinate system can be converted into a relative coordinate system according to the position of the vehicle trajectory point. The relative coordinate system is a coordinate system constructed using a position point in the parking lot as the coordinate origin.

[0042] In one implementation scenario, considering that the current environment map and the reference map need to be matched later, in order to reduce the error of the subsequent map matching, when constructing the environment map in each parking process, the maps constructed at different times need to be expressed in the same coordinate system. That is, the current environment map and the local map constructed in the past times in this embodiment are expressed in the same world coordinate system.

[0043] It should be noted that, unless otherwise specified in this application, the world coordinate system in the text is the earth coordinate system, and the coordinates expressed in the world coordinate system (earth coordinate system) are, for example, longitude, latitude, altitude, and Euler angles of northeast and southwest.

[0044] In one implementation scenario, it is considered that the driving trajectory of the target vehicle is different during different parking processes, that is, the relative coordinate system constructed each time may be a coordinate system constructed with different positions of the parking lot as the coordinate origin. In this case, the current environment map and the reference map constructed historically are likely to be expressed in different coordinate systems. However, the position of the environment on the earth is fixed. In order to solve this problem, the environment maps constructed at different times can be expressed in the earth coordinate system, that is, expressed in the world coordinate system. Among them, the position of the environmental information in the earth coordinate system is obtained by converting the coordinates of the environmental information perceived by the target vehicle in the world coordinate system at the corresponding perception time through the position of the target vehicle at the corresponding perception time in the vehicle body coordinate system.

[0045] The position of the target vehicle in the world coordinate system at the corresponding sensing moment can refer to the method for determining the current position of the target vehicle in the embodiment of step S11, and will not be elaborated here.

[0046] In a preferred embodiment, in order to reduce the complexity of the subsequent matching between the current environment map and the reference map constructed in the past, the local environment area of ​​the parking lot can be used to construct the current environment map and the reference map, that is, the subsequent comparison is the local map constructed in the current and historical times. For example, each time the vehicle drives to the vicinity of the target parking space, the map can be constructed. Of course, the environment map can also be constructed at the beginning, but when the length of the constructed environment map is greater than the preset length, based on the position of the target vehicle at the latest moment, the environment information in the map that is greater than the preset length from the position is deleted.

[0047] In one embodiment, the reference map is an environmental map within a preset range of the target parking space (which can be understood as a distance from the target parking space that is less than or equal to a preset length). For example, during the previous parking process, when the target vehicle is driving near the target parking space, the environmental map is constructed, and after the target vehicle is parked in the target parking space, the environmental map within the preset range of the target parking space is saved. The specific preset range can be set according to the size of the map that needs to be saved and the parking needs, such as saving an environmental map within a range of 20 meters or 30 meters of the target parking space.

[0048] In one specific embodiment, see Figure 3 , Figure 3 yes Figure 1 The flowchart of step S12 of an embodiment is shown as follows. In this embodiment, obtaining the current environment map constructed by the target vehicle during this parking process includes:

[0049] S31: Obtaining an initial environment map constructed for the target vehicle during this parking process; the initial environment map is an environment map constructed using the perceived environment information of the target vehicle during its driving process and expressed in a relative coordinate system.

[0050] S32: Based on the second position of the target vehicle, convert the initial environment map to the current vehicle body coordinate system of the target vehicle to obtain the initial environment map expressed in the current vehicle body coordinate system.

[0051] S33: According to the current position of the target vehicle, the initial environment map expressed in the current vehicle body coordinate system is converted to the world coordinate system to obtain the current environment map.

[0052] In this embodiment, the current position of the target vehicle is obtained by integrating the first position of the target vehicle in the world coordinate system when the preset condition is met and the current second position of the target vehicle (the current position in the relative coordinate system).

[0053] In summary, in this embodiment, when constructing the current environment map during the parking process, an initial environment map is first constructed based on the environment information perceived when the target vehicle is traveling at each position point in the relative coordinate system. It can be understood that the initial environment map is expressed in the relative coordinate system. Then, based on the second position of the target vehicle in the relative coordinate system, the initial environment map is converted to the current body coordinate system of the target vehicle to obtain the initial environment map expressed in the current body coordinate system. Among them, the environment perceived by the vehicle at each moment during the driving process is expressed in different body coordinate systems. After converting the initial environment map to the current body coordinate system of the target vehicle, the environment information perceived by the vehicle at each historical moment can be expressed in the current body coordinate system, that is, the initial environment map expressed in the current body coordinate system is the environment information that the target vehicle can perceive when it is in the second position. Finally, in order to express the constructed current environment map in the world coordinate system, the initial environment map expressed in the current body coordinate system can be converted to the world coordinate system according to the current position of the target vehicle in the world coordinate system to obtain the current environment map.

[0054] The method for determining the current position of the target vehicle can refer to the description of the above related embodiments, and will not be elaborated here.

[0055] It should be noted that Figure 3 The embodiment shown is only one implementation method of obtaining the current environment map constructed by the target vehicle during parking provided by the present application. In other embodiments, the position of the vehicle in the world coordinate system at each driving moment can also be determined during the vehicle's movement, and the perceived environment information expressed in the vehicle body coordinate system at each driving moment can be directly converted to the world coordinate system.

[0056] At the same time, it should be noted that the method of constructing the reference map during the previous parking can refer to the method of constructing the current environment map described above. For example, the position of the target vehicle in the relative coordinate system when it is parked in the target parking space is first determined, and then based on the position, the initial reference map constructed in the relative coordinate system is expressed in the vehicle body coordinate system when it is parked in the target parking space. After obtaining the initial reference map expressed in the vehicle body coordinate system, the initial reference map is converted to the world coordinate system based on the position of the target vehicle in the world coordinate system to obtain a reference map expressed in the world coordinate system.

[0057] S13: Based on the map matching results of the current environment map and the reference map, determine the target parking space from the current environment map.

[0058] In one embodiment, considering that whether the satellite positioning coordinates are directly used as the current position of the target vehicle as mentioned above, or the satellite positioning coordinates and the coordinates of the target vehicle in the relative coordinate system are fused to determine the current position of the target vehicle, the accuracy of the current position needs to rely on the strength of the satellite signal. Therefore, there may be errors between the current position obtained based on the satellite signal and the actual position of the target vehicle in the world coordinate system. In order to accurately determine the target position of the target vehicle in the world coordinate system, and to use the target position to accurately determine the target parking space from the current environment map, in this embodiment, the current target position of the target vehicle in the world coordinate system can be optimized first, and then based on the target position of the target vehicle, the target parking space can be determined from the current environment map.

[0059] Specifically, see Figure 4 , Figure 4 yes Figure 1 The flowchart of step S13 of an embodiment is shown. In this embodiment, based on the map matching results of the current environment map and the reference map, the target parking space is determined from the current environment map, including:

[0060] S41: Optimizing the current position of the target vehicle based on the map matching result to obtain the current target position of the target vehicle in the world coordinate system.

[0061] It should be noted that the current environment map includes at least one candidate parking space, and at least one candidate parking space includes the target parking space to be parked. Since the current environment map constructed by this parking and the reference map constructed by the historical parking are expressed in the same world coordinate system, and the current environment map and the reference parking contain the same real environment, and the map construction is based on the coordinate transformation of the position of the target vehicle in the world coordinate system, the difference between the current environment map and the reference map constructed by the historical parking is negatively correlated with the position of the target vehicle in the world coordinate system, that is, the smaller the difference, the more accurate the position of the target vehicle in the world coordinate system is determined, so the current target position of the target vehicle in the world coordinate system can be obtained by optimizing the difference.

[0062] Among them, based on the position of the target vehicle in the world coordinate system, the environmental information expressed in the vehicle coordinate system is converted into coordinates, and the method of constructing a map expressed in the world coordinate system can refer to the following formula:

[0063] P global =R global P local +t global

[0064] Where P local Represents the environmental information expressed in the vehicle coordinate system, (R global , tglobal ) represents the position of the target vehicle in the world coordinate system, P global Represents a map (environmental information) expressed in the world coordinate system.

[0065] Based on the above explanation, the following describes how to optimize the target vehicle's current target position in the world coordinate system. Specifically, it includes:

[0066] First, the current position of the target vehicle is used as the optimization variable, and the first difference between the current environment map and the reference map is used as the optimization target to construct the objective function.

[0067] Second, the objective function is iteratively optimized until a second difference between the current position obtained by this optimization and the current position obtained by the previous optimization is not greater than a preset difference threshold, or the number of iterative optimizations reaches a preset number.

[0068] Third, the current position obtained by the last optimization is used as the target position.

[0069] In this embodiment, the target position is obtained based on the matching result between at least part of the first map points in the current environment map and at least part of the second map points in the reference map.

[0070] Exemplarily, the constructed objective function is as follows:

[0071]

[0072] In the formula, (R result , t result ) is the optimization variable, It is the position of any environment point in the current environment map in the world coordinate system (world coordinates). The world coordinates of any environment point in the saved reference map.

[0073] In summary, the optimization goal of this embodiment is to solve a target position so that the difference between the two maps meets the requirements, such as the difference is not greater than a preset difference threshold, or the difference of the preset number of iterations is the minimum target.

[0074] Among them, since the above-mentioned current environment map and reference map are constructed by using the environment information perceived by the target vehicle within a period of time, in order to optimize the current target position of the target vehicle, the difference between the first map point in the current environment map constructed by the environment information perceived at the current moment and the reference map can be used to optimize the current target position of the target vehicle; or, if the current environment map is constructed by using the above-mentioned Figure 3 In the case of the embodiment shown, the Figure 3The illustrated embodiment itself is a current environment map obtained according to the current position of the target vehicle, so the difference between the entire current environment map and the reference map can be directly optimized to obtain the current target position of the target vehicle.

[0075] S42: Based on the target position of the target vehicle, determine the target parking space from the current environment map.

[0076] In this embodiment, the current environment map includes at least one candidate parking space. Step S42 further includes the following steps:

[0077] First, a first distance between a target position of the target vehicle and a target parking space position of the target parking space, and a second distance between the target position and a candidate parking space position of each candidate parking space are obtained.

[0078] Second, determining a third difference between the first distance and each of the second distances.

[0079] Third, the candidate parking space corresponding to the smallest of the third differences is used as the target parking space.

[0080] It should be noted that the target position of the target vehicle, the target parking space position of the target parking space and the candidate parking space position of each candidate parking space in this embodiment should be expressed in the same coordinate system. In this embodiment, the target position, the target parking space position and the candidate parking space position are all expressed in the same world coordinate system as an example to explain how to select the target parking space from at least one candidate parking space.

[0081] It can be seen from the above three steps that in this embodiment, after determining the first distance between the target position of the target vehicle and the target parking position of the target parking space, the candidate parking space corresponding to the second distance closest to the first distance is selected from the second distances as the target parking space.

[0082] It should be noted that in one implementation scenario, if the current position of the target vehicle is determined accurately enough, it is not necessary to match the current environment map with the reference map. Instead, the first distance between the target parking space and the current position of the target vehicle is directly determined, and the second distance between each candidate parking space and the current position of the target vehicle is determined. The candidate parking space corresponding to the second distance closest to the first distance is found from each second distance and used as the target parking space for parking.

[0083] In the above scheme, when the target vehicle is within the preset distance range of the target parking space, the current environment map constructed in this parking is matched with the reference map constructed in the previous parking, and the target parking space is determined from the current environment map according to the matching result, so as to park the target vehicle in the target parking space. Compared with the method of matching the map from the beginning of searching for a parking space without considering the distance between the target vehicle and the target parking space, the method of matching the map only when the target parking space is adjacent to the target parking space mentioned above in this application can effectively reduce unnecessary computing consumption, reduce the complexity of parking space determination, and thus improve the efficiency of parking space determination; at the same time, this method uses the matching results of the current environment map and the reference map to determine the parking space, which can ensure the accuracy of parking space determination.

[0084] In some embodiments, if it is the first time for the target vehicle to park, an environmental map may be constructed when the target parking space is nearby, and after the target vehicle is parked in the target parking space, the location of the target parking space and a map within a preset distance range of the target parking space may be saved as a reference map.

[0085] In the subsequent parking process, the map constructed by any of the historical parking times corresponding to the current parking can be updated as a new reference map, and the current environment map can be matched with the reference map and the target parking space can be selected; preferably, the map constructed by the most recent historical parking time can be updated as the new reference map.

[0086] See also Figure 5 , Figure 5 : is a schematic diagram of a framework of an embodiment of a parking space determination device provided by the present application. In this embodiment, the parking space determination device 50 includes: a detection module 51, an acquisition module 52 and a parking space determination module 53. The detection module 51 is used to detect that the target vehicle is currently located within a preset distance range of the target parking space; the acquisition module 52 is used to acquire the current environment map constructed by the target vehicle for this parking and the reference map constructed during the previous parking; the parking space determination module 53 is used to determine the target parking space from the current environment map based on the map matching results of the current environment map and the reference map.

[0087] In some embodiments, the parking space determination module 53 determines the target parking space from the current environment map based on the map matching results of the current environment map and the reference map, including: optimizing the current position of the target vehicle based on the map matching results to obtain the current target position of the target vehicle in the world coordinate system; determining the target parking space from the current environment map based on the target position of the target vehicle.

[0088] In some embodiments, the current position of the target vehicle is optimized based on the map matching result to obtain the current target position of the target vehicle in the world coordinate system, including: taking the current position of the target vehicle as an optimization variable, and taking the first difference between the current environment map and the reference map as an optimization target, and constructing an objective function; iteratively optimizing the objective function until the second difference between the current position obtained by this optimization and the current position obtained by the last optimization is no greater than a preset difference threshold, or the number of iterative optimizations reaches a preset number; and taking the current position obtained by the last optimization as the target position.

[0089] In some embodiments, the current position of the target vehicle is obtained by fusion of a first position of the target vehicle in the world coordinate system and a current second position of the target vehicle when the preset conditions are met, the second position being the current position of the target vehicle in the relative coordinate system, and the relative coordinate system is constructed with the first position as the coordinate origin; the preset conditions include detecting that the satellite signal strength is less than a preset strength threshold and entering a parking lot, the first position is obtained using satellite positioning, and the second position is obtained using the driving data of the target vehicle.

[0090] In some embodiments, the acquisition module 52 acquires the current environment map constructed by the target vehicle during this parking, including: acquiring the initial environment map constructed by the target vehicle during this parking; the initial environment map is an environment map constructed by utilizing the perceived environment information of the target vehicle during driving and expressed in a relative coordinate system; based on the second position of the target vehicle, the initial environment map is converted to the current body coordinate system of the target vehicle to obtain the initial environment map expressed in the current body coordinate system; according to the current position of the target vehicle, the initial environment map expressed in the current body coordinate system is converted to the world coordinate system to obtain the current environment map.

[0091] In some embodiments, the current environment map acquired by the acquisition module 52 includes at least one candidate parking space; based on the target position of the target vehicle, the target parking space is determined from the current environment map, including: acquiring a first distance between the target position of the target vehicle and the target parking space position of the target parking space, and a second distance between the target position and the candidate parking space position of each candidate parking space; determining a third difference between the first distance and each second distance; and taking the candidate parking space corresponding to the smallest of each third difference as the target parking space.

[0092] In some embodiments, the target location is obtained based on a matching result between at least part of the first map points in the current environment map and at least part of the second map points in the reference map.

[0093] In some embodiments, the current environment map and the reference map acquired by the acquisition module 52 are both constructed using the local environment area of ​​the parking lot; the reference map is an environment map within a preset range of the target parking space; and / or the current environment map and the reference map are expressed in the same world coordinate system.

[0094] See also Figure 6 , Figure 6 Schematic diagram of the framework of an electronic device according to an embodiment of the present application. In this embodiment, the electronic device 60 includes a memory 61 and a processor 62 coupled to each other.

[0095] The memory 61 stores program instructions, and the processor 62 is used to execute the program instructions stored in the memory 61 to implement the steps of any of the above method implementations. In a specific implementation scenario, the electronic device 60 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 60 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0096] Specifically, the processor 62 is used to control itself and the memory 61 to implement the steps of any of the above-mentioned embodiments. The processor 62 can also be called a CPU (Central Processing Unit). The processor 62 may be an integrated circuit chip with signal processing capabilities. The processor 62 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 62 can be implemented by an integrated circuit chip.

[0097] See also Figure 7 , Figure 7It is a schematic diagram of the framework of the computer-readable storage medium provided by the present application. The computer-readable storage medium 70 of the embodiment of the present application stores a program instruction 71, and when the program instruction 71 is executed, the method provided by any embodiment of the above method and any non-conflicting combination is implemented. Among them, the program instruction 71 can form a program file and be stored in the above-mentioned computer-readable storage medium 70 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of each implementation method of the present application. The aforementioned computer-readable storage medium 70 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0098] In the above scheme, when the target vehicle is within the preset distance range of the target parking space, the current environment map constructed in this parking is matched with the reference map constructed in the previous parking, and the target parking space is determined from the current environment map according to the matching result, so as to park the target vehicle in the target parking space. Compared with the method of matching the map from the beginning of searching for a parking space without considering the distance between the target vehicle and the target parking space, the method of matching the map only when the target parking space is adjacent to the target parking space mentioned above in this application can effectively reduce unnecessary computing consumption, reduce the complexity of parking space determination, and thus improve the efficiency of parking space determination; at the same time, this method uses the matching results of the current environment map and the reference map to determine the parking space, which can ensure the accuracy of parking space determination.

[0099] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0100] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0101] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or 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, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0102] 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 present embodiment.

[0103] 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. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0105] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A parking space determination method, characterized in that: The method comprises: It is detected that the target vehicle is currently located within a preset distance range of the target parking space; Obtaining a current environment map constructed by the target vehicle for this parking and a reference map constructed during previous parkings; Based on the map matching result of the current environment map and the reference map, the target parking space is determined from the current environment map.

2. The method according to claim 1, characterized in that The determining the target parking space from the current environment map based on the map matching result of the current environment map and the reference map includes: Optimizing the current position of the target vehicle based on the map matching result to obtain the current target position of the target vehicle in the world coordinate system; The target parking space is determined from the current environment map based on the target position of the target vehicle.

3. The method according to claim 2, characterized in that The optimizing the current position of the target vehicle based on the map matching result to obtain the current target position of the target vehicle in the world coordinate system includes: Taking the current position of the target vehicle as an optimization variable and taking the first difference between the current environment map and the reference map as an optimization target, constructing an objective function; Iteratively optimizing the objective function until a second difference between the current position obtained by this optimization and the current position obtained by the previous optimization is not greater than a preset difference threshold, or the number of iterative optimizations reaches a preset number; The current position obtained by the last optimization is used as the target position.

4. The method according to claim 2 or 3, characterized in that: The current position of the target vehicle is obtained by fusion of a first position of the target vehicle in the world coordinate system and a current second position of the target vehicle when the preset condition is met, the second position being the current position of the target vehicle in a relative coordinate system, and the relative coordinate system is constructed with the first position as the coordinate origin; the preset condition includes detecting that the satellite signal strength is less than a preset strength threshold and entering a parking lot, the first position is obtained by using satellite positioning, and the second position is obtained by using the driving data of the target vehicle.

5. The method according to claim 4, characterized in that The step of obtaining the current environment map constructed by the target vehicle during parking comprises: Acquire an initial environment map constructed by the target vehicle during this parking; the initial environment map is an environment map constructed by using the perceived environment information of the target vehicle during driving and expressed in the relative coordinate system; Based on the second position of the target vehicle, converting the initial environment map to a current body coordinate system of the target vehicle to obtain an initial environment map expressed in the current body coordinate system; According to the current position of the target vehicle, the initial environment map expressed in the current vehicle body coordinate system is converted to the world coordinate system to obtain the current environment map.

6. The method according to claim 2, characterized in that The current environment map includes at least one candidate parking space; The step of determining the target parking space from the current environment map based on the target position of the target vehicle includes: Acquire a first distance between a target position of the target vehicle and a target parking space position of the target parking space, and a second distance between the target position and a candidate parking space position of each of the candidate parking spaces; determining a third difference between the first distance and each of the second distances; The candidate parking space corresponding to the smallest of the third differences is used as the target parking space.

7. The method according to claim 2 or 3, characterized in that: The target location is obtained based on a matching result between at least part of the first map points in the current environment map and at least part of the second map points in the reference map.

8. The method according to claim 1, characterized in that The current environment map and the reference map are both constructed using a local environment area of ​​the parking lot; the reference map is an environment map within a preset range of the target parking space; And / or, the current environment map and the reference map are expressed in the same world coordinate system.

9. An electronic device, characterized in that: comprising a memory and a processor coupled to each other, The memory stores program instructions; The processor is used to execute the program instructions stored in the memory to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions that can be run by a processor, and the program instructions can be executed by the processor to implement the method according to any one of claims 1 to 8.

Images