Method and device for travel

Abstract

According to the embodiment of the invention, the method and the device for traveling are provided. The method comprises the steps of determining a target getting-on and getting-off position for a target travel based on a preset operation of a user; determining a target lane unit matched with the target getting-on and getting-off position, wherein the target lane unit corresponds to an area determined by dividing lanes; and causing the autonomous vehicle to park to a parking position associated with the target boarding and alighting position based on the target lane unit. Based on the mode, the embodiment of the invention can support the user to obtain the travel service based on the autonomous vehicle through the interaction logic consistent with the traditional online car-hailing method.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and more particularly, to methods, devices, apparatuses, computer-readable storage media, and computer program products for travel. Background Art

[0002] Autonomous driving is a technology that uses computers to replace or assist human drivers to perceive the vehicle's surroundings, plan the vehicle's trajectory, and control the vehicle to reach a designated destination. Travel services based on autonomous vehicles are gradually becoming one of people's main choices. Summary of the invention

[0003] In a first aspect of the present disclosure, a method for traveling is provided. The method includes: determining a target pick-up and drop-off location for a target trip based on a preset operation of a user; determining a target lane unit matching the target pick-up and drop-off location, the target lane unit corresponding to an area determined by dividing lanes; and causing an autonomous vehicle to park at a parking location associated with the target pick-up and drop-off location based on the target lane unit.

[0004] In a second aspect of the present disclosure, a method for traveling is provided. The method includes: determining a destination of a vehicle, the destination corresponding to a target lane unit, the target lane unit determined based on a user's selection of a target boarding and alighting location, and the target lane unit corresponding to an area determined by dividing lanes; determining a candidate area identified as allowing parking based on a set of lane units associated with the destination; and determining a parking position of the vehicle from the candidate area based on environmental information associated with the candidate area.

[0005] In a third aspect of the present disclosure, a device for traveling is provided. The device includes: a position determination module configured to determine a target pick-up and drop-off position for a target trip based on a preset operation of a user; a unit determination module configured to determine a target lane unit matching the target pick-up and drop-off position, the target lane unit corresponding to an area determined by dividing lanes; and a control module configured to enable an autonomous vehicle to park at a parking position associated with the target pick-up and drop-off position based on the target lane unit.

[0006] In a fourth aspect of the present disclosure, a device for traveling is provided. The device includes: a destination determination module configured to determine a destination of a vehicle, the destination corresponds to a target lane unit, the target lane unit is determined based on a user's selection of a target boarding and alighting position, and the target lane unit corresponds to an area determined by dividing lanes; an area determination module configured to determine a candidate area identified as a parking allowed area based on a set of lane units associated with the destination; and a parking control module configured to determine a parking position of the vehicle from the candidate area based on environmental information associated with the candidate area.

[0007] In a fifth aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the device executes the method of the first aspect or the second aspect.

[0008] In a sixth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect.

[0009] In a seventh aspect of the present disclosure, a computer program product is provided, which includes computer executable instructions, and when the computer executable instructions are executed by a processor, the method of the first aspect or the second aspect is implemented.

[0010] It should be understood that the contents described in the summary of the present invention are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0012] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;

[0013] Figure 2 A flowchart showing an example process for traveling according to some embodiments of the present disclosure is shown;

[0014] Figure 3 A schematic diagram showing an example travel system according to some embodiments of the present disclosure is shown;

[0015] Figure 4A flowchart showing an example process for traveling according to some embodiments of the present disclosure is shown;

[0016] Figure 5 A flow chart showing an example parking process according to some embodiments of the present disclosure is shown;

[0017] Fig. 6A and Figure 6B A schematic block diagram showing an example apparatus for traveling according to some embodiments of the present disclosure; and

[0018] Figure 7 A block diagram of a device capable of implementing various embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0019] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0020] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this article, and any type of embodiment may be included under any section / subsection. In addition, the embodiments described in any section / subsection may be combined in any manner with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0021] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may be included below. The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below.

[0022] The embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. These aspects are subject to the corresponding laws, regulations and relevant provisions. In the embodiments of the present disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user knows and confirms. Accordingly, when implementing each embodiment of the present disclosure, the type, scope of use, usage scenario, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with the relevant laws and regulations. The specific notification and / or authorization method can vary according to the actual situation and application scenario, and the scope of the present disclosure is not limited in this respect.

[0023] In this specification and the embodiments, if personal information processing is involved, it will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or it is necessary to perform a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0024] As briefly mentioned above, travel services based on autonomous vehicles (e.g., unmanned vehicles, etc.) have gradually become an important mode of travel. Unlike traditional online car-hailing travel services, autonomous vehicles are difficult to provide free vehicle stops when picking up or dropping off passengers because there is no driver to control them.

[0025] The embodiments of the present disclosure propose a solution for traveling. According to various embodiments of the present disclosure, a target boarding and alighting position for a target trip can be determined based on a preset operation of a user. Further, a target lane unit matching the target boarding and alighting position can be determined, and the target lane unit corresponds to an area determined by dividing the lanes. Accordingly, an autonomous vehicle can be parked at a parking position associated with the target boarding and alighting position based on the target lane unit.

[0026] Based on this approach, the embodiments of the present disclosure can support users to obtain travel services based on autonomous vehicles through interaction logic consistent with traditional online car-hailing services.

[0027] Example Environment

[0028] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In the environment 100 , a user 110 (also referred to as a current user) can obtain travel services through a terminal device 124 .

[0029] like Figure 1As shown, vehicle 140 can be used to provide travel services. In some embodiments, vehicle 124 can be any type of vehicle that can carry people and / or objects and move through a power system such as an engine. Examples of vehicle 140 include, but are not limited to, cars, trucks, buses, electric cars, motorcycles, RVs, trains, etc. In some examples, one or more vehicles 140 in environment 100 can be vehicles with autonomous driving capabilities.

[0030] like Figure 1 As shown, the terminal device 120 may be installed with an application 126, and provide a user interface 130 for the user to search for service locations and / or initiate a car request. Such an application 126 may include any appropriate type of application, such as an online car-hailing application, a map application, a navigation application, a mini-program, or a browser.

[0031] The terminal device 124 may be connected to the cloud device 122 to provide travel services to the user 110 in a coordinated manner. The terminal device 124 and the cloud device 122 may be collectively referred to as a service system 120.

[0032] Exemplarily, the terminal device 124 may include any appropriate type of electronic device, examples of which may include but are not limited to mobile phones, desktop computers, laptop computers, notebook computers, netbook computers, tablet computers, media computers, multimedia tablets, personal communication system (PCS) devices, etc.

[0033] It should be understood that the structure and functionality of environment 100 are described for exemplary purposes only and does not imply any limitation on the scope of the present disclosure.

[0034] Example Process

[0035] Figure 2 FIG. 2 is a schematic diagram of an example process 200 for traveling according to some embodiments of the present disclosure. The process 200 may be implemented at the terminal device 124. Figure 1 Process 200 is described.

[0036] In block 210 , based on a preset operation by the user, the terminal device 124 determines a target boarding or disembarking location for a target trip.

[0037] In some embodiments, based on the user's travel request, the terminal device 124 may receive one or more locations of the user's target trip, such as a starting point, an end point, or a waypoint.

[0038] In some embodiments, the terminal device 124 may also provide one or more candidate boarding and alighting locations in association with such a trip location. Taking the starting point as an example, similar to the process of traditional online car-hailing, the terminal device 124 may, for example, provide a set of candidate boarding and alighting locations for the user, and may receive the user's selection of a target boarding and alighting location.

[0039] The process of determining candidate boarding and alighting locations will be further described below. Figure 3 A schematic diagram 300 of an example system is shown according to some embodiments of the present disclosure.

[0040] like Figure 3 As shown, the terminal device 124 can provide APP point selection at 315 based on the green point library 305 and the parking area 310, that is, present a set of candidate boarding and alighting locations through the application interface.

[0041] Specifically, the cloud device 122 may determine the candidate boarding and alighting locations using first map data from a first precision and second map data from a second precision. For example, the first map data may correspond to a navigation map (SD map), and the second map data may correspond to a high-precision map (HD map).

[0042] As an example, the green dot library 305 may include a set of pick-up and drop-off locations from a navigation map. For example, the green dot library 305 may be a set of pick-up and drop-off locations used in a traditional online car-hailing application.

[0043] Furthermore, the parking area 310 may correspond to prescribed lane unit information determined based on high-precision map data.

[0044] The following will first introduce the process of determining the lane unit. In some embodiments, the cloud device 122 can generate multiple lane units based on high-precision map data.

[0045] Considering that the lane unit is basic information for assisting parking, in some embodiments, the cloud device 122 may divide only the rightmost lane in the road to determine multiple lane units.

[0046] In some embodiments, the cloud device 122 may divide the lane based on a preset length to determine a plurality of lane units. For example, the cloud device 122 may divide the lane into a plurality of lane units having a preset length along the direction of the lane.

[0047] Further, the cloud device 122 may determine the attributes of the lane unit based on the high-precision map data. In some embodiments, such attributes may include parking attributes of the lane unit to indicate whether the lane unit allows parking, the time period for which parking is allowed, the duration for which parking is allowed, etc. The cloud device 122 may, for example, determine whether the lane unit allows parking based on the high-precision map data. Specifically, the cloud device 122 may determine the lane type of the lane unit based on the high-precision map data, such lane types may include, but are not limited to: ordinary lanes, bicycle lanes, emergency lanes, right turn lanes, bus lanes, ramps, etc.

[0048] Further, the cloud device 122 can determine whether such a lane type allows parking according to corresponding driving regulations. For example, when the lane type of the lane unit is a type that does not allow parking according to driving regulations, the cloud device 122 can correspondingly mark such a lane unit as prohibited parking.

[0049] Furthermore, if Figure 3 As shown, the cloud device 122 can use the parking domain 310 (ie, lane unit information) to filter the green spot library 305, thereby only providing the pick-up and drop-off locations that match the lane units identified as allowing parking, for providing to the user at the terminal device 124.

[0050] Continue to refer Figure 2 In box 220, the terminal device 124 determines a target lane unit that matches the target boarding and disembarking location, and the target lane unit corresponds to an area determined by dividing the lanes.

[0051] As mentioned above, the cloud device 122 can build a match between the boarding and alighting position and the lane unit. Further, the terminal device 124 can determine the target lane unit that matches the specified target boarding and alighting position based on the matching relationship.

[0052] Continue to refer Figure 2 At block 230 , the terminal device 124 causes the autonomous vehicle to park at a parking location associated with the target pickup or drop-off location based on the target lane unit.

[0053] In some embodiments, the terminal device 124 may perform route verification on the target boarding and alighting locations selected by the user. Specifically, the terminal device 124 may determine whether a route corresponding to the target trip can be generated based on the target location of the target lane unit. For example, the terminal device 124 may perform route planning based on the coordinates of the lane unit corresponding to the boarding point selected by the user and the coordinates of the lane unit corresponding to the alighting point.

[0054] In some embodiments, the terminal device 124 may determine whether a route corresponding to the target trip can be generated based on the location of the target lane unit and the service range of the autonomous vehicle. For example, in some cases, the corresponding pick-up point and drop-off point may not be able to plan a route that falls within the service range.

[0055] like Figure 3 As shown, at 320, the terminal device 124 may perform route verification. If the corresponding route cannot be planned, then at 325, the terminal device 124 may not send or confirm the location, and may guide the user to select a boarding point, an alighting point, a passing point, etc.

[0056] On the contrary, if the terminal device 124 determines that a route corresponding to the target trip can be generated, the terminal device 124 may send the target position of the target lane unit to the autonomous vehicle so that the autonomous vehicle stops at the parking position based on the target position.

[0057] The specific parking process of the autonomous vehicle will be referred to below. Figure 4 and Figure 5 A detailed description will not be given here.

[0058] Based on the process described above, the embodiments of the present disclosure can support users to obtain travel services based on autonomous vehicles through interactive logic consistent with traditional online car-hailing services, and can ensure that the boarding and alighting locations selected by users meet the parking requirements of autonomous vehicles.

[0059] The following will further combine Figure 4 and Figure 5 To describe the execution process on the vehicle side.

[0060] Figure 4 A schematic diagram of an example process 400 for traveling according to some embodiments of the present disclosure is shown. The process 400 may be implemented at the vehicle 140. Figure 1 and Figure 3 Process 400 is described.

[0061] As shown, in box 410, the vehicle 140 determines the destination of the vehicle, the destination corresponds to a target lane unit, the target lane unit is determined based on the user's selection of a target pick-up and drop-off location, and the target lane unit corresponds to an area determined by dividing the lanes.

[0062] As reference Figure 2 As discussed, when the terminal device 124 passes the route verification, the terminal device 124 can cause the location information of the target lane unit corresponding to the target boarding and alighting location selected by the user to be sent to the vehicle 140, so that the vehicle 140 can plan a route based on the location information. Such a destination can include the coordinates of the target lane unit.

[0063] like Figure 3 As shown, at 330, the vehicle 140 can perform path planning. In the case where the path planning cannot be performed, it can be taken over remotely or manually at 335 to drive to the destination.

[0064] Continue to refer Figure 4 At block 420 , the vehicle 140 determines candidate areas identified as allowing parking based on a set of lane cells associated with the destination.

[0065] Specifically, the vehicle 140 may determine whether the destination is associated with a preset parking area. Figure 3 As shown, at 340 , the vehicle 140 may determine whether a preset type of parking area can be generated.

[0066] Further, in response to the destination not being associated with a preset parking area, the vehicle 140 determines a candidate area identified as allowing parking based on a set of lane units associated with the destination. Figure 3 For example, at 345, the vehicle 140 can generate an extended parking area, also referred to as a virtual parking area, based on the set of lane units.

[0067] The following will further refer to Figure 5 To describe process 420. Figure 5 As shown, at 510 , upon receiving an indication from the user of a pick-up or drop-off location by selecting a small green dot, the vehicle 140 may update the destination and parking type based on the received information, and indicate the parking type as zone parking, for example.

[0068] Further, at 520 , the vehicle 140 may determine whether the parking type is area parking, ie, allowing a parking spot to be found in a surrounding area near the destination.

[0069] At 530 , the vehicle 140 may determine whether there is an available parking area. That is, the vehicle 140 may determine whether the destination is associated with a preset type of parking area, such as a dedicated parking space on the roadside.

[0070] If no available parking area of ​​the preset type is associated, then at 540 , vehicle 140 may generate a virtual parking area based on a set of lane units associated with the destination.

[0071] Specifically, the vehicle 140 may determine a group of lane units associated with a destination, wherein a distance of the group of lane units to the destination is less than a threshold.

[0072] Further, the vehicle 140 may determine at least one lane unit identified as allowing parking from a group of lane units. Additionally, the vehicle 140 may determine a candidate area identified as allowing parking based on a space corresponding to at least one lane unit. For example, the vehicle 140 may connect spaces corresponding to a plurality of lane units marked as parking available to form a large continuous space as a virtual parking area for searching for a parking position.

[0073] Further, continue Figure 3 For example, if the vehicle 140 fails to generate an extended parking area, the vehicle 140 can be triggered to detour to the vicinity of the destination at 350, or the user can be guided to modify the destination.

[0074] If there is a preset parking area associated with the destination, the vehicle 140 can control the vehicle to park in the preset parking area. Figure 3 As shown, the vehicle 140 may search whether the preset parking area includes a parking space suitable for parking the vehicle.

[0075] Continue to refer Figure 4 The vehicle 140 determines a parking position of the vehicle from the candidate area based on the environmental information associated with the candidate area.

[0076] Specifically, the vehicle 140 can find a parking space based on environmental information associated with a candidate area (eg, a virtual parking area). In some embodiments, the environmental information can characterize the occupancy of the candidate area.

[0077] In some embodiments, environmental information associated with the candidate area is determined based on at least one of: high-precision map data; real-time map data; vehicle perception data.

[0078] For example, the vehicle 140 may determine the occupancy of the candidate area based on the obstacle information perceived by the vehicle, the real-time map data, the high-precision map data, etc., and may determine whether the candidate area includes sufficient space suitable for the vehicle 140 to park. Figure 3 As shown, the vehicle 140 may determine whether there is a gap at 355 .

[0079] If you are sure there is enough space, Figure 3 As shown, at 360, the vehicle 140 may control the vehicle to perform a parking maneuver. As another example, Figure 5 As shown, at 550 , the vehicle 140 may trigger parking logic to control the vehicle to park in a parking position (eg, in the determined gap).

[0080] At 560 , the vehicle 140 may update the parking status of the vehicle accordingly to synchronize with the cloud device 124 or the terminal device 122 , for example.

[0081] Based on the process described above, the unmanned vehicle can perform area parking according to the position of the lane unit, and can use the lane unit information to search for a location where parking is possible, thereby improving the parking flexibility of the unmanned vehicle.

[0082] Example devices and equipment

[0083] Fig. 6A A schematic structural block diagram of an apparatus 600A for traveling according to some embodiments of the present disclosure is shown. The apparatus 600A may be implemented as or included in a terminal device 124. Each module / component in the apparatus 600A may be implemented by hardware, software, firmware, or any combination thereof.

[0084] As shown in the figure, the device 600A includes a position determination module 610, which is configured to determine a target pick-up and drop-off position for a target trip based on a preset operation of a user; a unit determination module 620, which is configured to determine a target lane unit that matches the target pick-up and drop-off position, the target lane unit corresponding to an area determined by dividing the lanes; and a control module 630, which is configured to cause the autonomous vehicle to park at a parking position associated with the target pick-up and drop-off position based on the target lane unit.

[0085] In some embodiments, the location determination module 610 is further configured to: provide a set of candidate boarding and boarding locations to the user, the set of candidate boarding and boarding locations being associated with first map data of a first accuracy, the set of candidate boarding and boarding locations being matched with a set of lane units determined to allow parking, the set of lane units being determined to allow parking based on at least second map data of a second accuracy, the second accuracy being higher than the first accuracy; and receive a user's selection of a target boarding and boarding location from the set of candidate boarding and boarding locations.

[0086] In some embodiments, the first map data corresponds to a navigation map, and the second map data corresponds to a high-precision map.

[0087] In some embodiments, the target lane unit corresponds to an area defined by a rightmost lane in a divided road.

[0088] In some embodiments, the target lane unit is determined by dividing the lane based on a preset length.

[0089] In some embodiments, whether parking is allowed in a lane unit is determined based on a lane type of the lane unit, and the lane type is indicated by high-precision map data.

[0090] In some embodiments, the control module 630 is further configured to: determine whether a route corresponding to the target trip can be generated based on the target position of the target lane unit; and in response to being able to generate a route corresponding to the target trip, send the target position of the target lane unit to the autonomous vehicle so that the autonomous vehicle stops at the parking position based on the target position.

[0091] In some embodiments, the control module 630 is further configured to determine whether a route corresponding to the target trip can be generated based on the position of the target lane unit and the service range of the autonomous vehicle.

[0092] Figure 6B 1 shows a schematic structural block diagram of a device 600B for traveling according to some embodiments of the present disclosure. The device 600B may be implemented as or included in a vehicle 140. Each module / component in the device 600B may be implemented by hardware, software, firmware, or any combination thereof.

[0093] As shown in the figure, the device 600B includes a destination determination module 640, which is configured to determine the destination of the vehicle, the destination corresponds to a target lane unit, the target lane unit is determined based on the user's selection of the target boarding and alighting position, and the target lane unit corresponds to an area determined by dividing the lanes; an area determination module 650, which is configured to determine a candidate area identified as allowing parking based on a set of lane units associated with the destination; and a parking control module 660, which is configured to determine the parking position of the vehicle from the candidate area based on environmental information associated with the candidate area.

[0094] In some embodiments, the device 600B further includes an updating module configured to: control the vehicle to park at a parking position; and update the parking status of the vehicle.

[0095] In some embodiments, the area determination module 650 is further configured to: determine whether the destination is associated with a preset parkable area; and in response to the destination not being associated with the preset parkable area, determine a candidate area identified as one where parking is allowed based on a set of lane units associated with the destination.

[0096] In some embodiments, the parking control module 660 is further configured to: in response to the destination being associated with a preset parking area, control the vehicle to park in the preset parking area.

[0097] In some embodiments, the apparatus 600B further comprises a unit search module configured to: determine a group of lane units associated with a destination, wherein a distance from the group of lane units to the destination is less than a threshold.

[0098] In some embodiments, the area determination module 650 is further configured to: determine at least one lane unit identified as allowing parking from a group of lane units; and determine a candidate area identified as allowing parking based on a space corresponding to the at least one lane unit.

[0099] In some embodiments, environmental information associated with the candidate area is determined based on at least one of: high-precision map data; real-time map data; vehicle perception data.

[0100] Figure 7 A block diagram illustrating a computing device 700 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that Figure 7 The computing device 700 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 7 The computing device 700 shown may be used to implement Figure 1 terminal device 124, cloud device 122 and / or vehicle 140.

[0101] like Figure 7 As shown, computing device 700 is in the form of a general-purpose computing device. Components of computing device 700 may include, but are not limited to, one or more processors or processing units 710, memory 720, storage device 730, one or more communication units 740, one or more input devices 750, and one or more output devices 760. Processing unit 710 may be an actual or virtual processor and is capable of performing various processes according to a program stored in memory 720. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capabilities of computing device 700.

[0102] The computing device 700 typically includes a plurality of computer storage media. Such media may be any accessible media accessible to the computing device 700, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 720 may be a volatile memory (e.g., registers, caches, random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 730 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and / or data (e.g., training data for training) and may be accessed within the computing device 700.

[0103] The computing device 700 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 7As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 720 may include a computer program product 725 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0104] The communication unit 740 enables communication with other computing devices via a communication medium. Additionally, the functions of the components of the computing device 700 can be implemented in a single computing cluster or multiple computing machines that can communicate via a communication connection. Therefore, the computing device 700 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0105] Input device 750 may be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 760 may be one or more output devices, such as a display, speaker, printer, etc. Computing device 700 may also communicate with one or more external devices (not shown) through communication unit 740 as needed, such as storage devices, display devices, etc., communicate with one or more devices that allow a user to interact with computing device 700, or communicate with any device that allows computing device 700 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0106] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.

[0107] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices, equipment, and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0108] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0109] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0110] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0111] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.

Claims

1. A method for traveling, comprising: Determine target boarding and alighting locations for a target trip based on a user's preset operation; Determine a target lane unit that matches the target boarding and disembarking position, wherein the target lane unit corresponds to an area determined by dividing the lanes; as well as The autonomous vehicle is caused to park at a parking location associated with the target pickup or drop-off location based on the target lane unit.

2. The method according to claim 1, wherein determining the target boarding and alighting location for the target trip based on a preset operation of the user comprises: providing a set of candidate boarding and dropping-off locations to the user, the set of candidate boarding and dropping-off locations being associated with first map data of a first accuracy, the set of candidate boarding and dropping-off locations being matched with a set of lane units determined as allowing parking, the set of lane units being determined as allowing parking based on at least second map data of a second accuracy, the second accuracy being higher than the first accuracy; as well as A user selection of the target boarding or getting location from the set of candidate boarding or getting locations is received.

3. The method according to claim 2, wherein the first map data corresponds to a navigation map, and the second map data corresponds to a high-precision map. 4 . The method according to claim 1 , wherein the target lane unit corresponds to an area determined by dividing a rightmost lane in the road. 5 . The method according to claim 1 , wherein the target lane unit is determined by dividing the lane based on a preset length. 6 . The method according to claim 1 , wherein whether the lane unit allows parking is determined based on a lane type of the lane unit, and the lane type is indicated by high-precision map data.

7. The method of claim 1, wherein causing the autonomous vehicle to park at a parking location associated with the target pickup or drop-off location based on the target lane unit comprises: Based on the target position of the target lane unit, determining whether a route corresponding to the target trip can be generated; as well as In response to being able to generate a route corresponding to the target trip, a target position of the target lane unit is sent to the autonomous vehicle, so that the autonomous vehicle stops at the parking position based on the target position.

8. The method according to claim 7, wherein determining whether a route corresponding to the target trip can be generated based on the position of the target lane unit comprises: Based on the position of the target lane unit and the service range of the autonomous vehicle, it is determined whether a route corresponding to the target trip can be generated.

9. A method for traveling, comprising: Determining a destination of the vehicle, the destination corresponding to a target lane unit, the target lane unit determined based on a user's selection of a target boarding or disembarking location, the target lane unit corresponding to an area determined by dividing the lanes; determining a candidate area identified as allowing parking based on a set of lane cells associated with the destination; as well as A parking position of the vehicle is determined from the candidate area based on environmental information associated with the candidate area.

10. The method according to claim 9, further comprising: Controlling the vehicle to park at the parking position; as well as The parking status of the vehicle is updated.

11. The method of claim 9, wherein determining the candidate area identified as allowing parking based on a set of lane units associated with the destination comprises: determining whether the destination is associated with a preset parking area; as well as In response to the destination not being associated with the pre-defined parkable area, a candidate area identified as a parking-permitted area is determined based on a set of lane units associated with the destination.

12. The method according to claim 11, further comprising: In response to the destination being associated with the preset parking area, the vehicle is controlled to park in the preset parking area.

13. The method according to claim 9, further comprising: The group of lane units associated with the destination is determined, and the distance from the group of lane units to the destination is less than a threshold.

14. The method of claim 9, wherein determining the candidate area identified as allowing parking based on a set of lane units associated with the destination comprises: determining at least one lane unit from the set of lane units that is identified as allowing parking; as well as The candidate area identified as a parking-allowed area is determined based on a space corresponding to the at least one lane unit.

15. The method of claim 9, wherein the environmental information associated with the candidate region is determined based on at least one of: High-precision map data; Real-time map data; Perception data of the vehicle.

16. A device for traveling, comprising: a location determination module configured to determine a target boarding and alighting location for a target trip based on a preset operation of a user; a unit determination module, configured to determine a target lane unit matching the target boarding and disembarking position, the target lane unit corresponding to an area determined by dividing the lanes; as well as A control module is configured to enable the autonomous vehicle to park at a parking position associated with the target pickup or drop-off position based on the target lane unit.

17. A device for traveling, comprising: a destination determination module configured to determine a destination of the vehicle, the destination corresponding to a target lane unit, the target lane unit being determined based on a user's selection of a target boarding or disembarking location, the target lane unit corresponding to an area determined by dividing the lanes; an area determination module configured to determine a candidate area identified as a parking permission area based on a set of lane units associated with the destination; as well as The parking control module is configured to determine a parking position of the vehicle from the candidate area based on environmental information associated with the candidate area.

18. An electronic device, comprising: at least one processing unit; as well as At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions, when executed by the at least one processing unit, causing the electronic device to perform a method according to any one of claims 1 to 8 or 9 to 15.

19. A computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method according to any one of claims 1 to 8 or 9 to 15.

20. A computer program product comprising computer executable instructions, wherein the computer executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 8 or 9 to 15.

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