Automatic parking method and device, electronic equipment and target vehicle

Abstract

The invention relates to the technical field of automatic parking, in particular to an automatic parking method and device, electronic equipment and a target vehicle. Acquiring parking space information corresponding to a plurality of idle parking spaces in the preset parking lot; the parking space information comprises parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to idle parking spaces; according to the parking space length information, the parking space width information and the surrounding obstacle information in the parking space information, determining a target parking space from the idle parking spaces; according to the parking space position information corresponding to the target parking space, a target trajectory path for driving to the target parking space is planned; and based on the target trajectory path, controlling the target vehicle to drive to the target parking space, and parking the target vehicle in the target parking space according to the parking space length information, the parking space width information and the surrounding obstacle information. The target parking space is determined based on the parking space information corresponding to the plurality of idle parking spaces, and automatic parking is realized. The problem of how to select a proper parking space and complete parking is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to an automatic parking method, device, electronic equipment and a target vehicle. Background Art

[0002] As the number of cars continues to grow, parking has become increasingly difficult and has become a major problem in urban traffic. In daily parking scenarios, drivers often encounter many difficult situations.

[0003] On the one hand, after entering the parking lot, facing seemingly vacant parking spaces, it is difficult to accurately judge whether the actual size of the parking space is compatible with the vehicle, and whether the surrounding space can meet the needs of parking and subsequent getting off, just by visual inspection. Even experienced drivers may need to display superb driving skills and repeatedly adjust the body posture during parking due to the narrow parking space and complex layout of surrounding obstacles, which consumes a lot of time and energy, and it is easy to cause scratches and collisions, causing damage to the vehicle. For example, in some parking lots in old communities, the parking space planning lacks norms, the parking spaces are small and the passages are narrow, the distance between vehicles is extremely small, and parking is extremely difficult; in the underground parking lots of commercial centers, the traffic volume is large during peak hours, and the parking spaces are tight. In order to compete for limited parking spaces, drivers often park in a hurry and have no time to take into account the quality of parking, resulting in inconvenience in getting off the car or even being unable to open the door to get off.

[0004] On the other hand, after the driver has parked his car with great difficulty, he may find a more ideal parking space. At this time, if he wants to change parking spaces, the driver needs to squeeze into the car again, complete the difficult reverse operation in the limited space, and then drive to the new parking space to park. The whole process is not only cumbersome to operate, but also easy to cause the risk of collision with surrounding vehicles during frequent starting, stopping and turning, further aggravating the traffic congestion in the parking lot.

[0005] Traditional parking assistance technologies, such as reversing images and reversing radars, can provide drivers with rear view information and obstacle distance warnings to a certain extent, but they are still insufficient in overall perception of complex parking environments and intelligent parking decision support. They cannot conduct a comprehensive analysis of parking spaces, cannot dynamically adjust parking strategies based on the number of people in the car, and cannot meet the urgent needs of drivers for convenient and safe parking in various complex parking scenarios.

[0006] To sum up, how to choose a suitable parking space and complete parking has become a problem that needs to be solved urgently. Summary of the invention

[0007] In view of this, the present invention provides an automatic parking method, device, electronic equipment and target vehicle to solve the problem of how to select a suitable parking space and complete parking.

[0008] In a first aspect, the present invention provides an automatic parking method, the method comprising:

[0009] Obtain parking space information corresponding to multiple vacant parking spaces in a preset parking lot; the parking space information includes parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking spaces;

[0010] Determine a target parking space from each vacant parking space according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information;

[0011] According to the parking space location information corresponding to the target parking space, a target trajectory path for driving to the target parking space is planned;

[0012] Based on the target trajectory path, the target vehicle is controlled to drive to the target parking space, and parked in the target parking space according to the parking space length information, parking space width information and surrounding obstacle information.

[0013] The automatic parking method provided in the embodiment of the present application obtains the parking space information corresponding to multiple free parking spaces in a preset parking lot; according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information, the target parking space is determined from each free parking space, ensuring that the determined target parking space can meet the parking requirements of the target vehicle, thereby ensuring the accuracy of the obtained target parking space. Then, according to the parking space position information corresponding to the target parking space, the target trajectory path for driving to the target parking space is planned, ensuring the accuracy of the planned target trajectory path. Then, based on the target trajectory path, the target vehicle is controlled to drive to the target parking space, and according to the parking space length information, parking space width information and surrounding obstacle information, the target parking space is parked, thereby realizing the parking of the target vehicle into the target parking space. The above method determines the target parking space based on the parking space information corresponding to multiple free parking spaces, and realizes automatic parking. It solves the problem of how to select a suitable parking space and complete parking.

[0014] In an optional implementation, determining a target parking space from each vacant parking space according to parking space length information, parking space width information, and surrounding obstacle information in the parking space information includes:

[0015] Identify the surrounding obstacle information corresponding to each vacant parking space, and detect whether the surrounding obstacles corresponding to each vacant parking space affect parking;

[0016] Obtain vehicle length information and vehicle width information corresponding to the target vehicle;

[0017] Compare the vehicle length information with the parking space length information, and compare the vehicle width information with the parking space width information;

[0018] Delete the vacant parking spaces whose parking space length information is smaller than the vehicle length information, and / or whose parking space width information is smaller than the vehicle width information, and / or whose surrounding obstacles affect parking, to obtain various spare parking spaces;

[0019] According to the parking space width information corresponding to the spare parking space and the surrounding obstacle information, the target parking space is determined from the spare parking spaces.

[0020] The automatic parking method provided by the embodiment of the present application identifies the surrounding obstacle information corresponding to each free parking space, detects whether the surrounding obstacles corresponding to each free parking space affect parking, and ensures the accuracy of the obtained detection results. Then, the vehicle length information and vehicle width information corresponding to the target vehicle are obtained; the vehicle length information and the parking space length information are compared, and the vehicle width information and the parking space width information are compared; the free parking spaces whose parking space length information is less than the vehicle length information, and / or the parking space width information is less than the vehicle width information, and / or the surrounding obstacles affect parking are deleted to obtain each spare parking space, thereby deleting the free parking spaces that the target vehicle cannot park in, and ensuring the accuracy of each spare parking space obtained. Then, according to the parking space width information and the surrounding obstacle information corresponding to the spare parking space, the target parking space is determined from each spare parking space, ensuring that the determined target parking space can meet the parking requirements of the target vehicle, avoiding the actual size of the determined target parking space being incompatible with the target vehicle, or / and the surrounding space cannot meet the parking and subsequent getting off requirements of the target vehicle.

[0021] In an optional implementation, determining a target parking space from each of the spare parking spaces according to parking space width information corresponding to the spare parking space and surrounding obstacle information includes:

[0022] Obtain seat position information and personal information corresponding to the driver and passengers in the target vehicle; the personal information includes whether the driver and passengers have mobility impairment, weight information, and height information;

[0023] According to the seat position information and the passenger information, the minimum opening distances of the two side doors of the target vehicle corresponding to the driver and passengers getting off the vehicle are determined;

[0024] The target parking space is determined from the spare parking spaces according to the minimum opening distances corresponding to the double-side doors, the vehicle width information, the parking space width information corresponding to the spare parking spaces, and the surrounding obstacle information.

[0025] The automatic parking method provided by the embodiment of the present application obtains the seat position information and personnel information corresponding to the driver and passengers in the target vehicle; based on the seat position information and personnel information, the minimum opening distances corresponding to the two side doors of the target vehicle when the driver and passengers get off the vehicle are determined, thereby ensuring the accuracy of the minimum opening distances corresponding to the two side doors of the target vehicle when the driver and passengers get off the vehicle. Then, based on the minimum opening distances corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to each spare parking space, and the surrounding obstacle information, the target parking space is determined from each spare parking space, thereby ensuring that the determined target parking space can meet the parking requirements of the target vehicle and the subsequent getting off requirements of the driver and passengers. In addition, the accuracy of the determined target parking space is ensured, and it is most suitable for the target vehicle.

[0026] In an optional implementation, according to the minimum opening distances corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to each spare parking space, and the surrounding obstacle information, the target parking space is determined from each spare parking space, including:

[0027] The minimum opening distances corresponding to the two side doors are added to the vehicle width information to obtain the first width information;

[0028] Comparing the first width information with parking space width information corresponding to each spare parking space;

[0029] Selecting a candidate parking space from each spare parking space whose parking space width information is greater than the first width information;

[0030] According to the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them.

[0031] The automatic parking method provided in the embodiment of the present application adds the minimum opening distances corresponding to the two side doors and the vehicle width information to obtain the first width information, thereby ensuring the accuracy of the obtained first width information. The first width information is compared with the parking space width information corresponding to each spare parking space; a candidate parking space whose parking space width information is greater than the first width information is selected from each spare parking space, thereby ensuring that the determined candidate parking space can meet the parking requirements of the target vehicle, thereby avoiding the actual size of the determined target parking space being incompatible with the target vehicle, or / and the surrounding space being unable to meet the parking and subsequent getting-off requirements of the target vehicle. Then, based on the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them, thereby ensuring the accuracy of the determined target parking space and being the most suitable for the target vehicle.

[0032] In an optional implementation, determining a target parking space from each spare parking space according to the minimum opening distances corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to each spare parking space, and the surrounding obstacle information further includes:

[0033] If there is no spare parking space whose parking space width information is greater than the first width information, selecting the largest minimum opening distance from the minimum opening distances corresponding to the doors on both sides;

[0034] Adding the maximum minimum opening distance to the vehicle width information to obtain second width information;

[0035] Comparing the second width information with parking space width information corresponding to each spare parking space;

[0036] Selecting a candidate parking space from each spare parking space whose parking space width information is greater than the second width information;

[0037] According to the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them.

[0038] The automatic parking method provided in the embodiment of the present application, if there is no spare parking space whose parking space width information is greater than the first width information, then the maximum minimum opening distance is selected from the minimum opening distances corresponding to the two side doors respectively, thereby ensuring the accuracy of the determined maximum minimum opening distance. Then, the maximum minimum opening distance is added to the vehicle width information to obtain the second width information. The accuracy of the obtained second width information is ensured, so that the candidate parking space can be determined according to the second width information. Then, the second width information is compared with the parking space width information corresponding to each spare parking space; and a candidate parking space whose parking space width information is greater than the second width information is selected from each spare parking space, so that the driver and passengers can get off on the side where the door is opened, thereby meeting the parking requirements of the target vehicle. Then, according to the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them, thereby ensuring the accuracy of the determined target parking space and being the most suitable for the target vehicle.

[0039] In an optional implementation, determining a target parking space from each spare parking space according to the minimum opening distances corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to each spare parking space, and the surrounding obstacle information further includes:

[0040] If there is no spare parking space whose parking space width information is greater than the second width information, comparing the vehicle width information with the parking space width information corresponding to each spare parking space;

[0041] Selecting a candidate parking space from each spare parking space whose parking space width information is greater than the vehicle width information;

[0042] According to the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them.

[0043] The automatic parking method provided by the embodiment of the present application, if there is no spare parking space whose parking space width information is greater than the second width information, then the vehicle width information is compared with the parking space width information corresponding to each spare parking space; a candidate parking space whose parking space width information is greater than the vehicle width information is selected from each spare parking space, ensuring that the determined candidate parking space meets the parking requirements of the target vehicle without requiring the driver or passengers to get off the vehicle. Then, according to the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them, ensuring the accuracy of the determined target parking space and the best fit for the target vehicle.

[0044] In an optional implementation, planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space includes:

[0045] Obtain vehicle location information corresponding to the target vehicle, parking space location information corresponding to the target parking space, and elevator entrance location information in a preset parking lot;

[0046] According to the vehicle location information, parking space location information and elevator entrance location information, a target trajectory path is planned from the target vehicle through the elevator entrance to the target parking space;

[0047] Correspondingly, based on the target trajectory path, the target vehicle is controlled to drive to the target parking space, including:

[0048] Based on the target trajectory, the target vehicle is controlled to drive to the elevator entrance and stop, so that the driver and passengers can get off;

[0049] After the driver and passengers get off the vehicle, control the target vehicle to drive to the target parking space.

[0050] The automatic parking method provided in the embodiment of the present application obtains the vehicle position information corresponding to the target vehicle, the parking space position information corresponding to the target parking space, and the elevator entrance position information in the preset parking lot; based on the vehicle position information, the parking space position information, and the elevator entrance position information, a target trajectory path is planned from the target vehicle through the elevator entrance to the target parking space, thereby ensuring the accuracy of the planned target trajectory path. Based on the target trajectory path, the target vehicle is controlled to drive to the elevator entrance and stop so that the driver and passengers can get off the vehicle, so that the target vehicle does not need to open the door in the target parking space, thereby meeting the parking requirements of the target vehicle. Then, after the driver and passengers get off the vehicle, the target vehicle is controlled to drive to the target parking space, so that the target vehicle can be controlled to park in the target parking space.

[0051] In an optional implementation, selecting a target parking space from the candidate parking spaces according to surrounding obstacle information corresponding to the candidate parking spaces includes:

[0052] According to the surrounding obstacle information corresponding to each candidate parking space, a candidate parking space with no surrounding obstacles is selected as the first target candidate parking space;

[0053] Calculate the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the elevator entrance according to the parking space position information of each first target candidate parking space;

[0054] A target parking space is determined from the first target candidate parking spaces according to the first distance and the second distance.

[0055] The automatic parking method provided in the embodiment of the present application selects a candidate parking space without obstacles around it as the first target candidate parking space according to the surrounding obstacle information corresponding to each candidate parking space, thereby ensuring that there are no obstacles around the selected first target candidate parking space, making parking more convenient. Then, according to the parking space position information of each first target candidate parking space, the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the elevator entrance are calculated, thereby ensuring the accuracy of the calculated first distance and second distance. According to the first distance and the second distance, the target parking space is determined from each first target candidate parking space, thereby ensuring that the determined target parking space is not too far from the elevator entrance and the target vehicle. This makes it convenient for drivers and passengers to get on the elevator and to park.

[0056] In a second aspect, the present invention provides an automatic parking device, the device comprising:

[0057] An acquisition module is used to acquire parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot; the parking space information includes parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking spaces;

[0058] A determination module, used to determine a target parking space from each vacant parking space according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information;

[0059] A planning module, used to plan a target trajectory path to the target parking space according to the parking space location information corresponding to the target parking space;

[0060] The control module is used to control the target vehicle to drive to the target parking space based on the target trajectory path, and park in the target parking space according to the parking space length information, parking space width information and surrounding obstacle information.

[0061] The automatic parking method provided in the embodiment of the present application obtains the parking space information corresponding to multiple free parking spaces in a preset parking lot; according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information, the target parking space is determined from each free parking space, ensuring that the determined target parking space can meet the parking requirements of the target vehicle, thereby ensuring the accuracy of the obtained target parking space. Then, according to the parking space position information corresponding to the target parking space, the target trajectory path for driving to the target parking space is planned, ensuring the accuracy of the planned target trajectory path. Then, based on the target trajectory path, the target vehicle is controlled to drive to the target parking space, and according to the parking space length information, parking space width information and surrounding obstacle information, the target parking space is parked, thereby realizing the parking of the target vehicle into the target parking space. The above method determines the target parking space based on the parking space information corresponding to multiple free parking spaces, and realizes automatic parking. It solves the problem of how to select a suitable parking space and complete parking.

[0062] In a third aspect, the present invention provides a target vehicle, including a vehicle body and an electronic device, the electronic device including: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the automatic parking method of the first aspect or any corresponding embodiment thereof by executing the computer instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present invention;

[0065] Figure 2 is a flow chart of another automatic parking method according to an embodiment of the present invention;

[0066] Figure 3 is a schematic flow chart of another automatic parking method according to an embodiment of the present invention;

[0067] Figure 4 is a structural block diagram of an automatic parking device according to an embodiment of the present invention;

[0068] Figure 5 It is a schematic diagram of the hardware structure of the electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0070] As the number of cars continues to grow, parking has become increasingly difficult and has become a major problem in urban traffic. In daily parking scenarios, drivers often encounter many difficult situations.

[0071] On the one hand, after entering the parking lot, facing seemingly vacant parking spaces, it is difficult to accurately judge whether the actual size of the parking space is compatible with the vehicle, and whether the surrounding space can meet the needs of parking and subsequent getting off, just by visual inspection. Even experienced drivers may need to display superb driving skills and repeatedly adjust the body posture during parking due to the narrow parking space and complex layout of surrounding obstacles, which consumes a lot of time and energy, and it is easy to cause scratches and collisions, causing damage to the vehicle. For example, in some parking lots in old communities, the parking space planning lacks norms, the parking spaces are small and the passages are narrow, the distance between vehicles is extremely small, and parking is extremely difficult; in the underground parking lots of commercial centers, the traffic volume is large during peak hours, and the parking spaces are tight. In order to compete for limited parking spaces, drivers often park in a hurry and have no time to take into account the quality of parking, resulting in inconvenience in getting off the car or even being unable to open the door to get off.

[0072] On the other hand, after the driver has parked his car with great difficulty, he may find a more ideal parking space. At this time, if he wants to change parking spaces, the driver needs to squeeze into the car again, complete the difficult reverse operation in the limited space, and then drive to the new parking space to park. The whole process is not only cumbersome to operate, but also easy to cause the risk of collision with surrounding vehicles during frequent starting, stopping and turning, further aggravating the traffic congestion in the parking lot.

[0073] Traditional parking assistance technologies, such as reversing images and reversing radars, can provide drivers with rear view information and obstacle distance warnings to a certain extent, but they are still insufficient in overall perception of complex parking environments and intelligent parking decision support. They cannot conduct a comprehensive analysis of parking spaces, cannot dynamically adjust parking strategies based on the number of people in the car, and cannot meet the urgent needs of drivers for convenient and safe parking in various complex parking scenarios.

[0074] In summary, how to choose a suitable parking space and complete parking has become a problem that needs to be solved urgently.

[0075] It should be noted that the automatic parking method provided in the embodiment of the present application may be executed by an automatic parking device, which may be implemented as part or all of the electronic equipment in the target vehicle through software, hardware, or a combination of software and hardware, wherein the electronic equipment may be a server or a terminal, wherein the server in the embodiment of the present application may be a single server or a server cluster composed of multiple servers, and the terminal in the embodiment of the present application may be a smart phone, a personal computer, a tablet computer, a wearable device, an intelligent robot, or other intelligent hardware devices. In the following method embodiments, the execution subject is an electronic device as an example for explanation.

[0076] According to an embodiment of the present invention, an automatic parking method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0077] In this embodiment, an automatic parking method is provided, which can be used for the electronic device in the above-mentioned target vehicle. Figure 1 is a flow chart of an automatic parking method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0078] Step S101, obtaining parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot.

[0079] The parking space information includes the parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking space. The surrounding obstacle information may include the location, size and shape of the obstacle.

[0080] Specifically, after entering the preset parking lot, the electronic device may receive parking space information corresponding to a plurality of vacant parking spaces in the preset parking lot sent by a server of the preset parking lot.

[0081] Step S102: determining a target parking space from each vacant parking space according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information.

[0082] Specifically, the electronic device can determine a target parking space where surrounding obstacles do not affect parking and whose parking space size is relatively suitable based on the parking space length information, the parking space width information and the surrounding obstacle information in the parking space information.

[0083] This step will be described in detail below.

[0084] Step S103, planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space.

[0085] Specifically, electronic devices can use high-precision positioning sensors, such as the Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), and wheel encoders, to accurately obtain the current position, posture (including heading, pitch, and roll angles), and speed of the target vehicle in real time. At the same time, through multiple cameras, lidars, and ultrasonic sensors mounted on the vehicle body, the parking lot environment is scanned in an all-round and dynamic manner to build a detailed and real-time updated three-dimensional map, accurately identifying the location, shape, and size of the target parking space, as well as the distribution of surrounding obstacles, including other parked vehicles, pillars, walls, pedestrians, etc.

[0086] Then, the electronic device can use the preset planning algorithm to predict the driving trajectory corresponding to the dynamic traffic flow in the parking lot based on the information collected about the dynamic traffic flow in the parking lot. Then, based on the historical data and the movement trends of surrounding vehicles and pedestrians monitored in real time, it can predict the potential obstacles and their movement paths that may appear when the target vehicle drives to the target parking space, avoid risks in advance, and dynamically adjust the planned path. For example, if it is detected that other vehicles are driving from adjacent lanes to the vicinity of the target parking space, the electronic device can quickly re-plan an alternative path that avoids the area to ensure the smoothness and safety of the parking process.

[0087] Among them, the preset planning algorithm can be an A* algorithm improved by integrating deep learning, or it can be other improved path planning algorithms.

[0088] Optionally, during the path planning process, the electronic device can also take into full account the dynamic characteristics of the target vehicle itself. Different vehicle models have different performance parameters such as turning radius, maximum acceleration and deceleration. The preset planning algorithm can generate a smooth trajectory that meets both space constraints and vehicle handling performance based on these vehicle characteristics. For example, for a luxury car with a long wheelbase, more space is required when turning. The algorithm will accordingly expand the radius of the turning path to avoid increased tire wear or collision with surrounding obstacles due to forced turns.

[0089] Step S104, based on the target trajectory path, controlling the target vehicle to travel to the target parking space, and parking in the target parking space according to the parking space length information, parking space width information and surrounding obstacle information.

[0090] Specifically, the electronic device accurately controls the vehicle speed based on the position of each node on the target trajectory and the expected vehicle speed, combined with the current actual vehicle speed, through the coordinated work of the engine management system and the braking system. For example, when the vehicle approaches a curve, in order to ensure smooth steering, the electronic device will appropriately reduce the vehicle speed in advance to avoid steering out of control due to excessive speed; and on a straight road section, if the distance to the vehicle in front is far and the path is unobstructed, the throttle opening will be increased in time to improve parking efficiency.

[0091] In addition, the electronic device can adjust the steering wheel angle in real time and accurately according to the curvature change of the target trajectory. At the same time, the torque sensor installed on the steering shaft continuously monitors the torque applied by the driver (in automatic parking mode, this value is usually zero, but it can be used to detect manual intervention by the driver in an emergency). Once the actual steering is found to deviate from the planned path, the reverse correction is immediately made to ensure that the vehicle strictly follows the target trajectory.

[0092] During the parking process, the electronic device can control and plan the parking trajectory based on the parking space length information, parking space width information and surrounding obstacle information obtained in the early stage, and control the target vehicle to park in the target parking space based on the parking trajectory.

[0093] For example, when the parking space is narrow, the vehicle will use the side cameras and ultrasonic sensors to accurately calculate the distance to obstacles on both sides when driving near the front of the parking space, fine-tune the position of the vehicle body, and reserve enough lateral space for subsequent parking operations in advance. For example, if the left side of the parking space is slightly narrower than the right side, the vehicle will appropriately shift to the right by a certain distance before entering the parking space to ensure that there is a relatively balanced safety margin on both sides when parking.

[0094] The system adopts differentiated parking strategies for different parking space lengths. For longer parking spaces, if there is sufficient space behind the vehicle, the front-end parking method will be preferred, which is more convenient when exiting the parking space; on the contrary, if there is limited space behind the parking space or there are obstacles, such as close to a wall or the rear of another vehicle, the vehicle will automatically switch to reverse parking mode, using the reversing image, radar and high-precision positioning information to accurately control the swing trajectory of the rear of the vehicle to ensure a successful one-time parking and avoid the risk of collision caused by multiple adjustments.

[0095] To cope with the dynamic changes of surrounding obstacles, the control system continuously monitors the environment. Even during parking, if a pedestrian suddenly breaks in or other vehicles move and cause the position of the obstacle to change, the system will immediately suspend the current parking operation, reassess the risk, and quickly adjust the parking strategy according to the new situation. If the obstacle is close to the left side of the vehicle, the vehicle may move to the right briefly, pull a safe distance, and then continue parking; if the risk level is high, it may even completely terminate parking and wait for the environment to become safe before restarting.

[0096] In addition, during the entire parking process, the vehicle also provides real-time feedback to the driver on parking progress, vehicle status, and potential risk information through in-car displays, voice prompts, etc. For example, when the vehicle is about to be parked, the voice system will remind you "Parking is about to be completed, please be ready to get off the vehicle", allowing the driver to understand the parking situation throughout the process, enhancing the user's sense of security and comfort.

[0097] The automatic parking method provided in the embodiment of the present application obtains the parking space information corresponding to multiple free parking spaces in a preset parking lot; according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information, the target parking space is determined from each free parking space, ensuring that the determined target parking space can meet the parking requirements of the target vehicle, thereby ensuring the accuracy of the obtained target parking space. Then, according to the parking space position information corresponding to the target parking space, the target trajectory path for driving to the target parking space is planned, ensuring the accuracy of the planned target trajectory path. Then, based on the target trajectory path, the target vehicle is controlled to drive to the target parking space, and according to the parking space length information, parking space width information and surrounding obstacle information, the target parking space is parked, thereby realizing the parking of the target vehicle into the target parking space. The above method determines the target parking space based on the parking space information corresponding to multiple free parking spaces, and realizes automatic parking. It solves the problem of how to select a suitable parking space and complete parking.

[0098] In this embodiment, an automatic parking method is provided, which can be used for the electronic device in the above-mentioned target vehicle. Figure 2 is a flow chart of an automatic parking method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0099] Step S201, obtaining parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot.

[0100] The parking space information includes the parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking space.

[0101] For details about this step, please refer to the above description of step S101, which will not be elaborated here.

[0102] Step S202: determining a target parking space from each vacant parking space according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information.

[0103] Specifically, the above step S202 may include the following steps:

[0104] Step S2021, identifying the surrounding obstacle information corresponding to each vacant parking space, and detecting whether the surrounding obstacles corresponding to each vacant parking space affect parking.

[0105] Specifically, the electronic device can identify the surrounding obstacle information corresponding to each vacant parking space, determine the position information of the surrounding obstacles, and then determine the position information of the surrounding obstacles relative to the vacant parking space. Then, based on the position information of the surrounding obstacles relative to the vacant parking space, it is detected whether the surrounding obstacles corresponding to each vacant parking space affect parking.

[0106] Step S2022, obtaining the vehicle length information and vehicle width information corresponding to the target vehicle.

[0107] Specifically, the electronic device can receive the vehicle length information and vehicle width information corresponding to the target vehicle input by the user; the electronic device can also search the vehicle length information and vehicle width information corresponding to the target vehicle from the storage space; the electronic device can also receive the vehicle length information and vehicle width information corresponding to the target vehicle sent by other devices.

[0108] The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the vehicle length information and vehicle width information corresponding to the target vehicle.

[0109] Step S2023, comparing the vehicle length information with the parking space length information, and comparing the vehicle width information with the parking space width information.

[0110] Specifically, the electronic device may compare the vehicle length information with the parking space length information, and compare the vehicle width information with the parking space width information.

[0111] Step S2024, delete the vacant parking spaces whose parking space length information is smaller than the vehicle length information, and / or whose parking space width information is smaller than the vehicle width information, and / or whose surrounding obstacles affect parking, to obtain various spare parking spaces.

[0112] Specifically, the electronic device can screen out vacant parking spaces whose parking space length information is smaller than the vehicle length information, and / or whose parking space width information is smaller than the vehicle width information, and / or whose surrounding obstacles affect parking according to the above detection results and comparison results. Then, the electronic device deletes the screened vacant parking spaces to obtain various spare parking spaces.

[0113] Step S2025: determining a target parking space from among the spare parking spaces according to the parking space width information corresponding to the spare parking spaces and the surrounding obstacle information.

[0114] Specifically, the above step S2025 may include the following steps:

[0115] Step a1, obtaining seat position information and personal information corresponding to the driver and passengers in the target vehicle.

[0116] Among them, personal information includes whether the person has mobility difficulties, weight information, and height information.

[0117] Specifically, the electronic device can detect whether there is a person sitting down based on the high-sensitivity pressure sensor array integrated inside the vehicle seat, and accurately determine the specific seat position of the person based on the pressure distribution. The electronic device can also detect the weight information corresponding to the seated person based on the pressure sensor array. For example, when a passenger sits in the left seat in the back row, the pressure sensor corresponding to the seat will convert the pressure signal into an electrical signal and transmit it to the central control system of the vehicle. Through algorithm analysis, the passenger's seat orientation can be quickly and accurately determined. In addition, the weight information corresponding to the seated person can also be determined based on the electrical signal converted by the pressure sensor. Exemplary, people with mobility difficulties include but are not limited to: elderly people, pregnant women, holding children, holding various items, crutches, wheelchairs, etc.

[0118] In addition, the electronic device can also collect the corresponding images of each driver and passenger based on the camera. Then, the electronic device recognizes the image of the person, detects whether the driver and passenger are on crutches, use a wheelchair, hold a baby, carry heavy objects or have obvious body characteristics of pregnant women, so as to detect whether the driver and passenger are inconvenient to move. Optionally, the electronic device can also monitor the amplitude, frequency and transfer of the driver and passenger's body movements in real time based on the inertial sensor of the micro-electromechanical system (MEMS) installed under the seat back and the seat cushion. According to the amplitude, frequency and transfer of the driver and passenger's body movements and the center of gravity, it is determined whether the driver and passenger are inconvenient to move. For example, for the elderly or those who are physically unwell, their movements such as getting up, turning around, and moving their legs are often slow and irregular. After the inertial sensor captures these features, combined with the deep learning algorithm for analysis, it can more accurately judge the degree of passenger's inconvenience than relying solely on visual recognition, and provide them with more considerate parking and getting off assistance strategies in advance.

[0119] In addition, when the driver and passengers get on the bus, the electronics can control the camera to emit a specific structured light pattern to the driver and passengers, and then by receiving the reflected light, based on the principle of triangulation, quickly build a 3D body model of the driver and passengers, thereby accurately measuring the height information of the driver and passengers.

[0120] Step a2, determining the minimum opening distances corresponding to the two side doors of the target vehicle when the driver and passengers get off the vehicle according to the seat position information and the passenger information.

[0121] Specifically, the electronic device can determine the minimum opening distances corresponding to the double-side doors of the target vehicle when the driver and passengers get off the vehicle based on the relationship between the seat position information and the personnel information and the minimum opening distances corresponding to the doors.

[0122] For example, inconvenient mobility B1: When it is clear that the occupant has difficulty in mobility, it is recommended that the user get on and off outside the parking space. The inconvenience of mobility includes but is not limited to: pregnant women, holding children, holding multiple items, crutches, wheelchairs. Convenient mobility, high height and weight B2: weight greater than 80kg, height above 175cm; Convenient mobility, low height and weight B3: weight less than 80kg, height within 175cm. Among them: for inconvenient mobility, the minimum opening distance of the door is 80cm, and the maximum is fully open; for convenient mobility, high height and weight, the minimum opening distance of the door is 60cm, and the maximum is fully open; for convenient mobility, low height and weight, the minimum opening distance of the door is 50cm, and the maximum is fully open.

[0123] Step a3, determining a target parking space from among the spare parking spaces according to the minimum opening distances corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to the spare parking spaces, and the surrounding obstacle information.

[0124] In an optional implementation manner of the present application, the above step a3 may include the following steps:

[0125] Step a31, adding the minimum opening distances corresponding to the two side doors respectively to the vehicle width information to obtain the first width information.

[0126] Specifically, the electronic device may add the minimum opening distances corresponding to the two side doors respectively to the vehicle width information to obtain the first width information.

[0127] Step a32: comparing the first width information with the parking space width information corresponding to each spare parking space.

[0128] Specifically, the electronic device may compare the first width information with the parking space width information corresponding to each spare parking space.

[0129] Step a33, selecting a candidate parking space whose parking space width information is greater than the first width information from each of the spare parking spaces.

[0130] Specifically, the electronic device may select, from among the spare parking spaces, a candidate parking space whose parking space width information is greater than the first width information.

[0131] Step a34, selecting a target parking space from among the candidate parking spaces according to the surrounding obstacle information corresponding to each candidate parking space.

[0132] Specifically, in the above step a34, a target parking space is selected from the candidate parking spaces according to the surrounding obstacle information corresponding to each candidate parking space.

[0133] a341, according to the surrounding obstacle information corresponding to each candidate parking space, select a candidate parking space with no surrounding obstacles as the first target candidate parking space.

[0134] Specifically, the electronic device identifies surrounding obstacle information corresponding to each candidate parking space, and selects a candidate parking space without surrounding obstacles as the first target candidate parking space.

[0135] a342, calculating the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the elevator entrance according to the parking space position information of each first target candidate parking space.

[0136] Specifically, the electronic device may also receive the location information of each elevator entrance sent by the server in the preset parking lot. Then, the electronic device searches for the target elevator entrance closest to the target vehicle based on the location information of each elevator entrance. The electronic device calculates the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the target elevator entrance based on the parking space location information of each first target candidate parking space and the vehicle location information of the target vehicle, as well as the elevator entrance location information of the target elevator entrance.

[0137] a343, determining a target parking space from each first target candidate parking space according to the first distance and the second distance.

[0138] Specifically, the electronic device may add the first distance and the second distance to obtain a total distance sum, and then select the first target candidate parking space with the smallest total distance sum as the target vehicle.

[0139] The electronic device can also receive first weight information corresponding to a first distance and second weight information corresponding to a second distance input by a user, and then multiply the first weight information by the first distance and the second weight information by the second distance and add them together to obtain a total distance, and then select the first target candidate parking space with the smallest total distance as the target vehicle.

[0140] In an optional implementation manner of the present application, the above step a3 may further include the following steps:

[0141] Step a35: if there is no spare parking space whose parking space width information is greater than the first width information, then the largest minimum opening distance is selected from the minimum opening distances corresponding to the two side doors respectively.

[0142] Specifically, if there is no spare parking space whose parking space width information is greater than the first width information, the electronic device selects the largest minimum opening distance from the minimum opening distances respectively corresponding to the double-side doors.

[0143] Step a36, adding the maximum minimum opening distance to the vehicle width information to obtain the second width information.

[0144] Specifically, the electronic device adds the maximum minimum opening distance to the vehicle width information to obtain the second width information.

[0145] Step a37, comparing the second width information with the parking space width information corresponding to each spare parking space.

[0146] Specifically, the electronic device compares the second width information with the parking space width information corresponding to each spare parking space.

[0147] Step a38, selecting a candidate parking space whose parking space width information is greater than the second width information from each of the spare parking spaces.

[0148] Specifically, the electronic device selects a candidate parking space whose parking space width information is greater than the second width information from each spare parking space.

[0149] Thereby, each selected candidate parking space can satisfy the needs of the driver and passengers to get off the vehicle from a single side, for example, the driver and passengers all place orders from the driver's side.

[0150] Step a39, selecting a target parking space from among the candidate parking spaces according to the surrounding obstacle information corresponding to each candidate parking space.

[0151] Specifically, in the above step a39, a target parking space is selected from the candidate parking spaces according to the surrounding obstacle information corresponding to each candidate parking space.

[0152] a391, according to the surrounding obstacle information corresponding to each candidate parking space, select a candidate parking space with no surrounding obstacles as the first target candidate parking space.

[0153] Specifically, the electronic device identifies surrounding obstacle information corresponding to each candidate parking space, and selects a candidate parking space without surrounding obstacles as the first target candidate parking space.

[0154] a392, calculating the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the elevator entrance according to the parking space position information of each first target candidate parking space.

[0155] Specifically, the electronic device may also receive the location information of each elevator entrance sent by the server in the preset parking lot. Then, the electronic device searches for the target elevator entrance closest to the target vehicle based on the location information of each elevator entrance. The electronic device calculates the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the target elevator entrance based on the parking space location information of each first target candidate parking space and the vehicle location information of the target vehicle, as well as the elevator entrance location information of the target elevator entrance.

[0156] a393, determining a target parking space from each first target candidate parking space according to the first distance and the second distance.

[0157] Specifically, the electronic device may add the first distance and the second distance to obtain a total distance sum, and then select the first target candidate parking space with the smallest total distance sum as the target vehicle.

[0158] The electronic device can also receive first weight information corresponding to a first distance and second weight information corresponding to a second distance input by a user, and then multiply the first weight information by the first distance and the second weight information by the second distance and add them together to obtain a total distance, and then select the first target candidate parking space with the smallest total distance as the target vehicle.

[0159] Step S203, planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space.

[0160] For details about this step, please refer to the introduction of step S103 above.

[0161] Step S204, based on the target trajectory path, control the target vehicle to travel to the target parking space, and park in the target parking space according to the parking space length information, parking space width information and surrounding obstacle information.

[0162] For details about this step, please refer to the introduction of step S104 above.

[0163] The automatic parking method provided by the embodiment of the present application identifies the surrounding obstacle information corresponding to each free parking space, detects whether the surrounding obstacles corresponding to each free parking space affect parking, and ensures the accuracy of the detection results. Then, the vehicle length information and vehicle width information corresponding to the target vehicle are obtained; the vehicle length information is compared with the parking space length information, and the vehicle width information is compared with the parking space width information; the free parking spaces whose parking space length information is less than the vehicle length information, and / or the parking space width information is less than the vehicle width information, and / or the surrounding obstacles affect parking are deleted to obtain each spare parking space, thereby deleting the free parking spaces that the target vehicle cannot park in, and ensuring the accuracy of each spare parking space obtained. Then, the seat position information and personnel information corresponding to the driver and passengers in the target vehicle are obtained; according to the seat position information and personnel information, the minimum opening distances corresponding to the double side doors of the target vehicle when the driver and passengers get off the vehicle are determined, and the accuracy of the minimum opening distances corresponding to the double side doors of the target vehicle when the driver and passengers get off the vehicle is ensured. The first width information is obtained by adding the minimum opening distances corresponding to the two side doors to the vehicle width information, thereby ensuring the accuracy of the obtained first width information. The first width information is compared with the parking space width information corresponding to each spare parking space; a candidate parking space whose parking space width information is greater than the first width information is selected from each spare parking space, thereby ensuring that the determined candidate parking space can meet the parking requirements of the target vehicle, thereby avoiding the actual size of the determined target parking space not matching the target vehicle, or / and the surrounding space not being able to meet the parking and subsequent getting off requirements of the target vehicle. If there is no spare parking space whose parking space width information is greater than the first width information, the maximum minimum opening distance is selected from the minimum opening distances corresponding to the two side doors, thereby ensuring the accuracy of the determined maximum minimum opening distance. Then, the maximum minimum opening distance is added to the vehicle width information to obtain the second width information. The accuracy of the obtained second width information is ensured, so that the candidate parking space can be determined according to the second width information. Then, the second width information is compared with the parking space width information corresponding to each spare parking space; a candidate parking space with a parking space width information greater than the second width information is selected from each spare parking space, so that the driver and passengers can get off the vehicle on the side where the door is open, thereby meeting the parking requirements of the target vehicle. Then, the vehicle position information corresponding to the target vehicle, the parking space position information corresponding to the target parking space, and the elevator entrance position information in the preset parking lot are obtained; based on the vehicle position information, the parking space position information, and the elevator entrance position information, a target trajectory path is planned from the target vehicle through the elevator entrance to the target parking space, thereby ensuring the accuracy of the planned target trajectory path. Based on the target trajectory path, the target vehicle is controlled to stop at the elevator entrance so that the driver and passengers can get off the vehicle, so that the target vehicle does not need to open the door in the target parking space, thereby meeting the parking requirements of the target vehicle.Then, after the driver and passengers get off the vehicle, the target vehicle is controlled to drive to the target parking space, so that the target vehicle can be controlled to park in the target parking space.

[0164] In this embodiment, an automatic parking method is provided, which can be used for the electronic device in the above-mentioned target vehicle. Figure 3 is a flow chart of an automatic parking method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0165] Step S301, obtaining parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot.

[0166] The parking space information includes the parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking space.

[0167] For details about this step, please refer to the above description of step S201, which will not be elaborated here.

[0168] Step S302: determining a target parking space from each vacant parking space according to the parking space length information, parking space width information and surrounding obstacle information in the parking space information.

[0169] Specifically, the above step S302 may include the following steps:

[0170] Step S3021, identifying the surrounding obstacle information corresponding to each vacant parking space, and detecting whether the surrounding obstacles corresponding to each vacant parking space affect parking.

[0171] For details about this step, please refer to the above description of step S2021, which will not be repeated here.

[0172] Step S3022, obtaining the vehicle length information and vehicle width information corresponding to the target vehicle.

[0173] For details about this step, please refer to the above description of step S2022, which will not be repeated here.

[0174] Step S3023, comparing the vehicle length information with the parking space length information, and comparing the vehicle width information with the parking space width information.

[0175] For details about this step, please refer to the above description of step S2023, which will not be repeated here.

[0176] Step S3024, delete the vacant parking spaces whose parking space length information is smaller than the vehicle length information, and / or whose parking space width information is smaller than the vehicle width information, and / or whose surrounding obstacles affect parking, to obtain various spare parking spaces.

[0177] For details about this step, please refer to the above description of step S2024, which will not be repeated here.

[0178] Step S3025: determining a target parking space from among the spare parking spaces according to the parking space width information corresponding to the spare parking spaces and the surrounding obstacle information.

[0179] Specifically, the above step S3025 may include the following steps:

[0180] Step b1, obtaining seat position information and personal information corresponding to the driver and passengers in the target vehicle.

[0181] Among them, personal information includes whether the person has mobility difficulties, weight information, and height information.

[0182] For details about this step, please refer to the introduction to step a1 above and will not be repeated here.

[0183] Step b2, determining the minimum opening distances corresponding to the double-side doors of the target vehicle when the driver and passengers get off the vehicle based on the seat position information and the passenger information.

[0184] For details about this step, please refer to the introduction to step a2 above and will not be repeated here.

[0185] Step b3, determining a target parking space from among the spare parking spaces according to the minimum opening distances corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to the spare parking spaces, and the surrounding obstacle information.

[0186] In an optional implementation manner of the present application, the above step b3 may include the following steps:

[0187] Step b31: if there is no spare parking space whose parking space width information is greater than the second width information, then compare the vehicle width information with the parking space width information corresponding to each spare parking space.

[0188] Specifically, if there is no spare parking space whose parking space width information is greater than the second width information, the electronic device may compare the vehicle width information with the parking space width information corresponding to each spare parking space.

[0189] Step b32, selecting a candidate parking space whose parking space width information is greater than the vehicle width information from each spare parking space.

[0190] Specifically, the electronic device may select, from among the spare parking spaces, a candidate parking space whose parking space width information is greater than the vehicle width information.

[0191] Step b33: Select a target parking space from the candidate parking spaces according to the surrounding obstacle information corresponding to each candidate parking space.

[0192] For this step, please refer to the above description of steps a34 and a39, which will not be repeated here.

[0193] Step S303, planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space.

[0194] Specifically, the above step S303 may include the following steps:

[0195] Step S3031, obtaining the vehicle position information corresponding to the target vehicle, the parking space position information corresponding to the target parking space, and the elevator entrance position information in the preset parking lot.

[0196] Specifically, the electronic device can also receive the position information of each elevator entrance sent by the server in the preset parking lot. Then, the electronic device searches for the target elevator entrance closest to the target vehicle according to the position information of each elevator entrance.

[0197] Step S3032, planning a target trajectory path from the target vehicle through the elevator entrance to the target parking space based on the vehicle position information, the parking space position information and the elevator entrance position information.

[0198] Specifically, electronic devices can use high-precision positioning sensors, such as the Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), and wheel encoders, to accurately obtain the current position, posture (including heading, pitch, and roll angles), and speed of the target vehicle in real time. At the same time, through multiple cameras, lidars, and ultrasonic sensors mounted on the vehicle body, the parking lot environment is scanned in an all-round and dynamic manner to build a detailed and real-time updated three-dimensional map, accurately identifying the location, shape, and size of the target parking space, as well as the distribution of surrounding obstacles, including other parked vehicles, pillars, walls, pedestrians, etc.

[0199] Then, the electronic device can use the preset planning algorithm to predict the driving trajectory corresponding to the dynamic traffic flow in the parking lot based on the information collected about the dynamic traffic flow in the parking lot. Then, based on the historical data and the movement trends of surrounding vehicles and pedestrians monitored in real time, it can predict the potential obstacles and their movement paths that may appear when the target vehicle is driving to the elevator entrance, avoid risks in advance, and dynamically adjust the planned path. For example, if it is detected that other vehicles are driving from adjacent lanes to the vicinity of the target parking space, the electronic device can quickly re-plan an alternative path that avoids the area to ensure the smoothness and safety of the parking process.

[0200] Among them, the preset planning algorithm can be an A* algorithm improved by integrating deep learning, or it can be other improved path planning algorithms.

[0201] When planning the route from the vehicle's current position to the elevator entrance, the driver's convenience and comfort are fully considered. If there are multiple feasible routes in the parking lot, the route with bright light, wide view and relatively flat road surface will be preferred to avoid the driver passing through dark, bumpy or water-prone areas. At the same time, combined with the elevator's operating status information (if the parking lot management system supports sharing this data), try to plan a route to the elevator entrance when the elevator is about to arrive or is empty, reducing the driver's waiting time.

[0202] Then, in the process of going from the elevator entrance to the target parking space, fine adjustments are made based on the size of the parking space, surrounding obstacles, and driver and passenger information. If the parking space is narrow, the path planning will reserve enough turning space so that the vehicle can park at a suitable angle when approaching the parking space, avoiding multiple adjustments or even scratches due to poor angles. In the case of obstacles in the surrounding area, such as trash cans and ground locks, the high-precision scanning of the lidar is used to accurately calculate the safe distance from the obstacles to ensure that the vehicle always maintains a certain distance from them during driving to avoid collisions. Taking into account the driver and passenger information, if there are passengers with limited mobility in the car, the path will try to avoid areas with dense crowds and narrow passages, and choose a wider and flatter route to facilitate passengers to get off and go to the elevator entrance.

[0203] Optionally, the electronic device can analyze the driver's driving style, such as whether it is aggressive or steady, by collecting the driver's previous driving data in the parking lot or similar scenarios. For aggressive drivers, the planned path will be relatively more focused on speed while ensuring safety, reducing unnecessary turns and stops; while for steady drivers, the focus is on the smoothness and comfort of the path, adding slow-moving areas and warning prompts. In addition, according to the layout characteristics and frequency of use of different parking lots, such as shopping mall parking lots with many people and cars on weekends and relatively empty on weekdays, the system can adaptively adjust the path planning strategy to provide the driver with the most suitable driving trajectory and continuously improve the user experience during parking.

[0204] Step S304: Based on the target trajectory path, the target vehicle is controlled to travel to the target parking space, and is parked in the target parking space according to the parking space length information, parking space width information, and surrounding obstacle information.

[0205] Specifically, the above step S304 may include:

[0206] Step S3041, based on the target trajectory path, control the target vehicle to drive to the elevator entrance and stop to allow the driver and passengers to get off.

[0207] Specifically, the electronic device controls the target vehicle to travel to the elevator entrance and stop based on the target trajectory path, so that the driver and passengers can get off the vehicle.

[0208] Step S3042: After the driver and passengers get off the vehicle, control the target vehicle to drive to the target parking space.

[0209] Specifically, after the driver and passengers get off the vehicle, the target vehicle is controlled to drive to the target parking space.

[0210] The automatic parking method provided by the embodiment of the present application, if there is no spare parking space whose parking space width information is greater than the second width information, then the vehicle width information is compared with the parking space width information corresponding to each spare parking space; a candidate parking space whose parking space width information is greater than the vehicle width information is selected from each spare parking space, ensuring that the determined candidate parking space meets the parking requirements of the target vehicle without requiring the driver or passengers to get off the vehicle. Then, according to the surrounding obstacle information corresponding to each candidate parking space, the target parking space is selected from them, ensuring the accuracy of the determined target parking space and the best fit for the target vehicle.

[0211] Then, the vehicle position information corresponding to the target vehicle, the parking space position information corresponding to the target parking space, and the elevator entrance position information in the preset parking lot are obtained; according to the vehicle position information, the parking space position information, and the elevator entrance position information, the target trajectory path from the target vehicle through the elevator entrance to the target parking space is planned to ensure the accuracy of the planned target trajectory path. Based on the target trajectory path, the target vehicle is controlled to drive to the elevator entrance and stop, so that the driver and passengers can get off the vehicle, so that the target vehicle does not need to open the door in the target parking space, thereby meeting the parking requirements of the target vehicle. Then, after the driver and passengers get off the vehicle, the target vehicle is controlled to drive to the target parking space, so that the target vehicle can be controlled to park in the target parking space.

[0212] According to the surrounding obstacle information corresponding to each candidate parking space, a candidate parking space with no surrounding obstacles is selected as the first target candidate parking space, which ensures that there are no obstacles around the selected first target candidate parking space, making parking more convenient. Then, according to the parking space position information of each first target candidate parking space, the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the elevator entrance are calculated, ensuring the accuracy of the calculated first distance and second distance. According to the first distance and the second distance, the target parking space is determined from each first target candidate parking space, ensuring that the determined target parking space is not too far from the elevator entrance and the target vehicle. This makes it convenient for drivers and passengers to get on the elevator and park.

[0213] In this embodiment, an automatic parking device is also provided, which is used to implement the above-mentioned embodiments and preferred implementations, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0214] This embodiment provides an automatic parking device, such as Figure 4 As shown, including:

[0215] The acquisition module 401 is used to acquire parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot; the parking space information includes parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking space;

[0216] A determination module 402 is used to determine a target parking space from each vacant parking space according to the parking space length information, the parking space width information and the surrounding obstacle information in the parking space information;

[0217] Planning module 403, used for planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space;

[0218] The control module 404 is used to control the target vehicle to travel to the target parking space based on the target trajectory path, and park in the target parking space according to the parking space length information, parking space width information and surrounding obstacle information.

[0219] In some optional embodiments, the determination module 402 is specifically used to identify the surrounding obstacle information corresponding to each vacant parking space, and detect whether the surrounding obstacles corresponding to each vacant parking space affect parking; obtain the vehicle length information and vehicle width information corresponding to the target vehicle; compare the vehicle length information with the parking space length information, and compare the vehicle width information with the parking space width information; delete the vacant parking spaces whose parking space length information is less than the vehicle length information, and / or the parking space width information is less than the vehicle width information, and / or the surrounding obstacles affect parking, to obtain each spare parking space; determine the target parking space from the spare parking spaces according to the parking space width information and surrounding obstacle information corresponding to the spare parking space.

[0220] In some optional embodiments, the determination module 402 is specifically used to obtain seat position information and personal information corresponding to the driver and passengers in the target vehicle; the personal information includes information on whether the person has mobility difficulties, weight information, and height information; based on the seat position information and personal information, determine the minimum opening distances corresponding to the double side doors of the target vehicle when the driver and passengers get off the vehicle; based on the minimum opening distances corresponding to the double side doors, the vehicle width information, the parking space width information corresponding to each spare parking space, and the surrounding obstacle information, determine the target parking space from the spare parking spaces.

[0221] In some optional embodiments, the determination module 402 is specifically used to add the minimum opening distances corresponding to the double-side doors and the vehicle width information to obtain the first width information; compare the first width information with the parking space width information corresponding to each spare parking space; select a candidate parking space whose parking space width information is greater than the first width information from each spare parking space; and select a target parking space from the candidate parking spaces based on the surrounding obstacle information corresponding to each candidate parking space.

[0222] In some optional embodiments, the determination module 402 is specifically used to select the largest minimum opening distance from the minimum opening distances corresponding to the two side doors respectively if there is no spare parking space whose parking space width information is greater than the first width information; add the largest minimum opening distance to the vehicle width information to obtain the second width information; compare the second width information with the parking space width information corresponding to each spare parking space; select a candidate parking space whose parking space width information is greater than the second width information from each spare parking space; and select a target parking space from the candidate parking spaces based on the surrounding obstacle information corresponding to each candidate parking space.

[0223] In some optional implementations, the determination module 402 is specifically used to compare the vehicle width information with the parking space width information corresponding to each spare parking space if there is no spare parking space whose parking space width information is greater than the second width information; select a candidate parking space whose parking space width information is greater than the vehicle width information from each spare parking space; and select a target parking space from the candidate parking spaces based on the surrounding obstacle information corresponding to each candidate parking space.

[0224] In some optional embodiments, the planning module 403 is specifically used to obtain the vehicle position information corresponding to the target vehicle, the parking space position information corresponding to the target parking space, and the elevator entrance position information in the preset parking lot; according to the vehicle position information, the parking space position information and the elevator entrance position information, a target trajectory path is planned from the target vehicle through the elevator entrance to the target parking space; correspondingly, the control module 404 is specifically used to control the target vehicle to drive to the elevator entrance and stop based on the target trajectory path, so that the driver and passengers can get off the vehicle; after the driver and passengers get off the vehicle, the target vehicle is controlled to drive to the target parking space.

[0225] In some optional embodiments, the determination module 402 is specifically used to select a candidate parking space with no surrounding obstacles as a first target candidate parking space based on the surrounding obstacle information corresponding to each candidate parking space; calculate the first distance between each first target candidate parking space and the target vehicle, and the second distance between each first target candidate parking space and the elevator entrance based on the parking space position information of each first target candidate parking space; and determine the target parking space from each first target candidate parking space based on the first distance and the second distance.

[0226] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0227] The automatic parking device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0228] The embodiment of the present invention also provides an electronic device having the above Figure 4 The automatic parking device shown.

[0229] See also Figure 5 , Figure 5 is a schematic diagram of the structure of an electronic device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0230] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0231] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0232] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0233] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0234] The electronic device further comprises a communication interface 30 for the electronic device to communicate with other devices or a communication network.

[0235] The embodiment of the present invention further provides a target vehicle, comprising the electronic device of the above embodiment and a vehicle body. The electronic device comprises: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes any one of the automatic parking methods of the above embodiment by executing the computer instructions.

[0236] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0237] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0238] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An automatic parking method, characterized in that: The method comprises: Acquire parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot; the parking space information includes parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking spaces; Determine a target parking space from each of the vacant parking spaces according to the parking space length information, the parking space width information and the surrounding obstacle information in the parking space information; Planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space; Based on the target trajectory path, the target vehicle is controlled to travel to the target parking space, and is parked in the target parking space according to the parking space length information, the parking space width information and the surrounding obstacle information.

2. The method according to claim 1, characterized in that The step of determining a target parking space from each of the vacant parking spaces according to the parking space length information, the parking space width information, and the surrounding obstacle information in the parking space information includes: Identify the surrounding obstacle information corresponding to each of the vacant parking spaces, and detect whether the surrounding obstacles corresponding to each of the vacant parking spaces affect parking; Obtaining vehicle length information and vehicle width information corresponding to the target vehicle; Comparing the vehicle length information with the parking space length information, and comparing the vehicle width information with the parking space width information; Deleting the vacant parking spaces whose parking space length information is smaller than the vehicle length information, and / or whose parking space width information is smaller than the vehicle width information, and / or whose parking is affected by surrounding obstacles, to obtain various spare parking spaces; A target parking space is determined from each of the spare parking spaces according to the parking space width information corresponding to the spare parking spaces and the surrounding obstacle information.

3. The method according to claim 2, characterized in that The determining a target parking space from each of the spare parking spaces according to the parking space width information corresponding to the spare parking spaces and the surrounding obstacle information includes: Acquire seat position information and personal information corresponding to the driver and passengers in the target vehicle; the personal information includes information on whether the driver and passengers have mobility impairment, weight information, and height information; Determine, based on the seat position information and the passenger information, the minimum opening distances corresponding to the two side doors of the target vehicle when the driver and passenger get off the vehicle; A target parking space is determined from the spare parking spaces according to the minimum opening distances respectively corresponding to the double-side doors, the vehicle width information, the parking space width information corresponding to the spare parking spaces, and the surrounding obstacle information.

4. The method according to claim 3, characterized in that The determining of the target parking space from each of the spare parking spaces according to the minimum opening distances respectively corresponding to the double-side doors, the vehicle width information, the parking space width information corresponding to each of the spare parking spaces, and the surrounding obstacle information comprises: Adding the minimum opening distances corresponding to the two side doors respectively to the vehicle width information to obtain first width information; comparing the first width information with the parking space width information corresponding to each of the spare parking spaces; Selecting a candidate parking space from among the spare parking spaces, wherein the parking space width information is greater than the first width information; The target parking space is selected from the candidate parking spaces according to the surrounding obstacle information corresponding to each of the candidate parking spaces.

5. The method according to claim 4, characterized in that The method of determining a target parking space from each of the spare parking spaces according to the minimum opening distances respectively corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to each of the spare parking spaces, and the surrounding obstacle information, further includes: If there is no spare parking space whose parking space width information is greater than the first width information, selecting the largest minimum opening distance from the minimum opening distances respectively corresponding to the doors on both sides; Adding the maximum minimum opening distance to the vehicle width information to obtain second width information; comparing the second width information with the parking space width information corresponding to each of the spare parking spaces; Selecting a candidate parking space from among the spare parking spaces, wherein the parking space width information is greater than the second width information; The target parking space is selected from the candidate parking spaces according to the surrounding obstacle information corresponding to each of the candidate parking spaces.

6. The method according to claim 5, characterized in that The method of determining a target parking space from each of the spare parking spaces according to the minimum opening distances respectively corresponding to the two side doors, the vehicle width information, the parking space width information corresponding to each of the spare parking spaces, and the surrounding obstacle information, further includes: If there is no spare parking space whose parking space width information is greater than the second width information, comparing the vehicle width information with the parking space width information corresponding to each spare parking space; Selecting a candidate parking space from among the spare parking spaces, wherein the parking space width information is greater than the vehicle width information; The target parking space is selected from the candidate parking spaces according to the surrounding obstacle information corresponding to each of the candidate parking spaces.

7. The method according to claim 6, characterized in that The step of planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space includes: Acquire the vehicle position information corresponding to the target vehicle, the parking space position information corresponding to the target parking space, and the elevator entrance position information in the preset parking lot; According to the vehicle position information, the parking space position information and the elevator entrance position information, planning the target trajectory path from the target vehicle through the elevator entrance to the target parking space; Correspondingly, based on the target trajectory path, controlling the target vehicle to drive to the target parking space includes: Based on the target trajectory path, controlling the target vehicle to travel to the elevator entrance and stop, so that the driver and passengers can get off the vehicle; After the driver and passengers get off the vehicle, the target vehicle is controlled to travel to the target parking space.

8. The method according to any one of claims 4 to 6, characterized in that: The step of selecting the target parking space according to the surrounding obstacle information corresponding to each of the candidate parking spaces includes: According to the surrounding obstacle information corresponding to each of the candidate parking spaces, selecting the candidate parking space without surrounding obstacles as the first target candidate parking space; Calculate, according to the parking space position information of each of the first target candidate parking spaces, a first distance between each of the first target candidate parking spaces and the target vehicle, and a second distance between each of the first target candidate parking spaces and the elevator entrance; The target parking space is determined from the first target candidate parking spaces according to the first distance and the second distance.

9. An automatic parking device, characterized in that: The device comprises: An acquisition module is used to acquire parking space information corresponding to a plurality of vacant parking spaces in a preset parking lot; the parking space information includes parking space position information, parking space length information, parking space width information and surrounding obstacle information corresponding to the vacant parking spaces; A determination module, configured to determine a target parking space from each of the vacant parking spaces according to the parking space length information, the parking space width information and the surrounding obstacle information in the parking space information; A planning module, used for planning a target trajectory path to the target parking space according to the parking space position information corresponding to the target parking space; The control module is used to control the target vehicle to travel to the target parking space based on the target trajectory path, and park in the target parking space according to the parking space length information, the parking space width information and the surrounding obstacle information.

10. A target vehicle, characterized in that: include: A vehicle body and an electronic device, wherein the electronic device comprises: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, wherein computer instructions are stored in the memory, and wherein the processor executes the automatic parking method according to any one of claims 1 to 8 by executing the computer instructions.

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