Simulation parking processing method and device based on automatic driving application graphical developer, graphical developer, storage medium and program product

Abstract

The embodiment of the invention provides a simulated parking processing method and device based on an automatic driving application graphical developer, the graphical developer, a storage medium and a program product. Relates to the technical field of automatic driving. The method comprises the following steps: in response to a starting operation, starting a preset simulator on a graphical interface of a preset graphical developer; and in response to the selection operation, loading a target parking scene map on the graphical interface. In response to the simulated parking operation, displaying a target obstacle vehicle and a to-be-parked vehicle terminal in a target parking scene map; determining first coordinate information of the target obstacle vehicle and second coordinate information of a to-be-parked space of the vehicle terminal; wherein a parking space is arranged between the target obstacle vehicles. And according to the first coordinate information and the second coordinate information, performing simulation parking processing in the automatic driving scene. The method is used for achieving the effect of improving the efficiency of simulation debugging parking.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a simulation parking processing method, device, graphical developer, storage medium and program product based on an autonomous driving application graphical developer. Background Art

[0002] At present, self-driving cars need to undergo a lot of road tests before they can meet commercial requirements. In the space parking scenario, the parking scenario between two cars is particularly critical. This scenario not only tests the precise positioning and path planning capabilities of the self-driving system, but also requires the system to be able to flexibly respond to complex situations in a small space. By successfully parking between two cars, the reliability and user experience of self-driving vehicles in practical applications can be significantly improved.

[0003] In the prior art, in the field of autonomous driving applications, CARLA, as a high-performance autonomous driving simulation software, provides a rich set of default scene maps. In the default scene map, a parking space between two obstacle vehicles is created, and a parking simulation test is performed based on two obstacle vehicles and the parking space between the two obstacle vehicles.

[0004] However, in the prior art, a direct API interface has not been provided in the parking simulation test to obtain detailed information of the parking space to be parked and the vertex coordinates of the two parking positions of the obstacle vehicles. Developers need to manually calculate the location information of the parking space to be parked and the vertex coordinates of the parking positions of the obstacle vehicles, which is not only time-consuming and labor-intensive, but also prone to calculation errors, thereby affecting the reliability and repeatability of the test results, and further resulting in low efficiency of simulation debugging parking. Summary of the invention

[0005] The embodiments of the present application provide a simulation parking processing method, device, graphical developer, storage medium and program product based on an autonomous driving application graphical developer, so as to achieve the effect of improving the efficiency of simulation debugging parking.

[0006] In a first aspect, an embodiment of the present application provides a simulation parking processing method based on an autonomous driving application graphical developer, comprising:

[0007] In response to the start operation, a preset simulator is started on a graphical interface of a preset graphical developer; and in response to the selection operation, a target parking scene map is loaded on the graphical interface;

[0008] In response to the simulated parking operation, the target obstacle vehicle and the vehicle terminal to be parked are displayed in the target parking scene map; and the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal are determined; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the vehicle length of the target obstacle vehicle is located and the straight line where the vehicle length of the vehicle terminal is located;

[0009] According to the first coordinate information and the second coordinate information, simulated parking processing is performed in an automatic driving scenario.

[0010] In a possible implementation, in response to the simulated parking operation, displaying the target obstacle vehicle and the vehicle terminal to be parked in the target parking scene map includes:

[0011] In response to the simulated parking operation, a preset configuration file is loaded; wherein the configuration file includes the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles;

[0012] According to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle, two target obstacle vehicles and the vehicle terminal to be parked are displayed in the parking scene map.

[0013] In a possible implementation manner, there are two target obstacle vehicles; and determining the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal includes:

[0014] Determine the parking type of the target obstacle vehicle according to the yaw angle of the target obstacle vehicle; wherein the yaw angle is obtained by loading a preset configuration file;

[0015] Determine first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle;

[0016] According to the center point coordinates of the preset target obstacle vehicles among the two vehicles, the second coordinate information of the parking space to be parked of the vehicle terminal is determined; wherein the center point coordinates of the target obstacle vehicle are obtained by loading the configuration file.

[0017] In a possible implementation manner, determining the first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle includes:

[0018] Based on a plurality of preset vehicle types of the target obstacle vehicle, determining size information of the target obstacle vehicle under each preset vehicle type;

[0019] For each target obstacle vehicle of a preset vehicle type, first coordinate information of the target obstacle vehicle is determined based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0020] In a possible implementation manner, for each target obstacle vehicle of a preset vehicle type, determining the first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle includes:

[0021] For each target obstacle vehicle of a preset vehicle type, if the parking type is a vertical parking type, determining the first coordinate information of the target obstacle vehicle according to a preset vertical formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle;

[0022] If the parking type is a horizontal parking type, determining the first coordinate information of the target obstacle vehicle according to a preset horizontal formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle;

[0023] If the parking type is an oblique parking type, the first coordinate information of the target obstacle vehicle is determined according to a preset oblique formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0024] In a possible implementation manner, the target obstacle vehicle includes a first target obstacle vehicle and a second target obstacle vehicle; the second target obstacle vehicle is an obstacle vehicle located on the left side in the exit scene facing the parking space to be parked; the second target obstacle vehicle is an obstacle vehicle preset in the configuration file for determining the second coordinate information;

[0025] The step of determining the second coordinate information of the parking space to be parked of the vehicle terminal according to the center point coordinates of the preset target obstacle vehicles among the two vehicles includes:

[0026] Determine the center point coordinates of the parking space to be parked of the vehicle terminal according to the center point coordinates of the second target obstacle vehicle, the size information of the second target obstacle vehicle, and the preset parking space size;

[0027] The second coordinate information of the parking space to be parked of the vehicle terminal is determined according to the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle.

[0028] In a possible implementation manner, determining the second coordinate information of the parking space to be parked of the vehicle terminal according to the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle includes:

[0029] Determine the target formula corresponding to the second target obstacle vehicle according to the mapping relationship between the preset formula and the parking type of the target obstacle vehicle; wherein the parking type is a vertical parking type, a horizontal parking type, or an oblique parking type;

[0030] The second coordinate information of the parking space of the vehicle terminal is determined according to the center point coordinates of the parking space of the vehicle terminal and the target formula.

[0031] In a possible implementation, the method further includes:

[0032] Determine the parking type of the parking space to be parked according to the parking type of the target obstacle vehicle;

[0033] The performing of simulated parking processing in an automatic driving scenario according to the first coordinate information and the second coordinate information includes:

[0034] The first coordinate information, the second coordinate information, the center point coordinates of the parking space to be parked of the vehicle terminal, and the parking type of the parking space to be parked are sent to the parking algorithm of the graphical developer to perform simulated parking processing in the autonomous driving scenario.

[0035] In a second aspect, an embodiment of the present application provides a simulated parking processing device based on an autonomous driving application graphical developer, comprising:

[0036] A startup module, used for starting a preset simulator on a graphical interface of a preset graphical developer in response to a startup operation;

[0037] A loading module, configured to load a target parking scene map on the graphical interface in response to a selection operation;

[0038] A display module, configured to display a target obstacle vehicle and a vehicle terminal to be parked in the target parking scene map in response to a simulated parking operation;

[0039] A determination module, used to determine the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the vehicle length of the target obstacle vehicle is located and the straight line where the vehicle length of the vehicle terminal is located;

[0040] The parking module is used to perform simulated parking processing in an automatic driving scenario according to the first coordinate information and the second coordinate information.

[0041] In a possible implementation manner, the display module is specifically used to:

[0042] In response to the simulated parking operation, a preset configuration file is loaded; wherein the configuration file includes the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles;

[0043] According to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle, two target obstacle vehicles and the vehicle terminal to be parked are displayed in the parking scene map.

[0044] In a possible implementation manner, there are two target obstacle vehicles; and the determination module includes:

[0045] A first determination unit is used to determine the parking type of the target obstacle vehicle according to the yaw angle of the target obstacle vehicle; wherein the yaw angle is obtained by loading a preset configuration file;

[0046] A second determining unit is used to determine first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle;

[0047] The third determining unit is used to determine the second coordinate information of the parking space to be parked of the vehicle terminal according to the center point coordinates of the preset target obstacle vehicle among the two vehicles; wherein the center point coordinates of the target obstacle vehicle are obtained by loading the configuration file.

[0048] In a possible implementation manner, the second determining unit includes:

[0049] A first determining subunit is used to determine the size information of the target obstacle vehicle under each preset vehicle type based on multiple preset vehicle types of the target obstacle vehicle;

[0050] The second determination subunit is used to determine the first coordinate information of the target obstacle vehicle for each preset vehicle type based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0051] In a possible implementation manner, the second determining subunit is specifically configured to:

[0052] For each target obstacle vehicle of a preset vehicle type, if the parking type is a vertical parking type, determining the first coordinate information of the target obstacle vehicle according to a preset vertical formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle;

[0053] If the parking type is a horizontal parking type, determining the first coordinate information of the target obstacle vehicle according to a preset horizontal formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle;

[0054] If the parking type is an oblique parking type, the first coordinate information of the target obstacle vehicle is determined according to a preset oblique formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0055] In a possible implementation manner, the target obstacle vehicle includes a first target obstacle vehicle and a second target obstacle vehicle; the second target obstacle vehicle is an obstacle vehicle located on the left side in the exit scene facing the parking space to be parked; the second target obstacle vehicle is an obstacle vehicle preset in the configuration file for determining the second coordinate information;

[0056] The third determining unit includes:

[0057] a third determining subunit, configured to determine the center point coordinates of the parking space to be parked of the vehicle terminal according to the center point coordinates of the second target obstacle vehicle, the size information of the second target obstacle vehicle, and a preset parking space size;

[0058] The fourth determining subunit is used to determine the second coordinate information of the parking space of the vehicle terminal according to the center point coordinates of the parking space of the vehicle terminal and the parking type of the second target obstacle vehicle.

[0059] In a possible implementation manner, the fourth determining subunit is specifically configured to:

[0060] Determine the target formula corresponding to the second target obstacle vehicle according to the mapping relationship between the preset formula and the parking type of the target obstacle vehicle; wherein the parking type is a vertical parking type, a horizontal parking type, or an oblique parking type;

[0061] The second coordinate information of the parking space of the vehicle terminal is determined according to the center point coordinates of the parking space of the vehicle terminal and the target formula.

[0062] In a possible implementation manner, the device is further specifically used for:

[0063] Determine the parking type of the parking space to be parked according to the parking type of the target obstacle vehicle;

[0064] The parking module is specifically used for:

[0065] The first coordinate information, the second coordinate information, the center point coordinates of the parking space to be parked of the vehicle terminal, and the parking type of the parking space to be parked are sent to the parking algorithm of the graphical developer to perform simulated parking processing in the autonomous driving scenario.

[0066] In a third aspect, an embodiment of the present application provides a graphical developer, including: a memory, a processor;

[0067] The memory stores computer-executable instructions;

[0068] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0069] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0070] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0071] The simulated parking processing method, device, graphical developer, storage medium and program product based on the graphical developer of autonomous driving application provided in the embodiment of the present application, in response to the start operation, start the preset simulator on the graphical interface of the preset graphical developer; and in response to the selection operation, load the target parking scene map on the graphical interface. In response to the simulated parking operation, the target obstacle vehicle and the vehicle terminal to be parked are displayed in the target parking scene map; and the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal are determined; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined according to the actual angle value between the straight line where the length of the target obstacle vehicle is located and the straight line where the length of the vehicle terminal is located. According to the first coordinate information and the second coordinate information, the simulated parking processing in the autonomous driving scenario is performed. In this solution, a spatial parking scene is created. In the parking scene between two cars in the spatial parking scene, the first coordinate information of the target obstacle vehicle (i.e. the 8 vertex coordinates of the target obstacle vehicle) and the second coordinate information of the parking space to be parked of the vehicle terminal (i.e. the 4 vertex coordinates of the parking space) can be automatically calculated. When the graphical developer of the autonomous driving application starts the carla spatial parking scene for simulation testing, after determining the 4 vertex coordinates of the parking space to be parked of the vehicle terminal and the 8 vertex coordinates of the target obstacle vehicle, the simulated parking processing of the vehicle terminal in the autonomous driving scene is tested, thereby realizing the test of the autonomous driving of the car and improving the development efficiency, so as to achieve the effect of improving the efficiency of simulation debugging parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0073] Figure 1 A flowchart of a simulated parking processing method based on an autonomous driving application graphical developer provided in an embodiment of the present application Figure 1 ;

[0074] Figure 2 Schematic diagram of another process of simulated parking processing method based on the autonomous driving application graphical developer provided in the embodiment of the present application Figure 2 ;

[0075] Figure 3 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 1 ;

[0076] Figure 4 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 2 ;

[0077] Figure 5 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 3 ;

[0078] Figure 6 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 4 ;

[0079] Figure 7 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 5 ;

[0080] Figure 8 A schematic diagram of the process of a simulated parking processing device based on an autonomous driving application graphical developer provided in this application Figure 3 ;

[0081] Fig. 9 A schematic diagram of the structure of a simulated parking processing device based on an autonomous driving application graphical developer provided in an embodiment of the present application;

[0082] Fig.10 A schematic diagram of the structure of another simulated parking processing device based on an autonomous driving application graphical developer provided in an embodiment of the present application;

[0083] Fig.11 A schematic diagram of the structure of a graphical developer provided in an embodiment of the present application.

[0084] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0085] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0086] At present, self-driving cars need to undergo a lot of road tests before they can meet commercial requirements. In the space parking scenario, the parking scenario between two cars is particularly critical. This scenario not only tests the precise positioning and path planning capabilities of the self-driving system, but also requires the system to be able to flexibly respond to complex situations in a small space. By successfully parking between two cars, the reliability and user experience of self-driving vehicles in practical applications can be significantly improved.

[0087] In one example, in the field of autonomous driving applications, CARLA, as a high-performance autonomous driving simulation software, provides a rich set of default scene maps. In the default scene map, a parking space scene between two obstacle vehicles is created, and a parking simulation test is performed based on two obstacle vehicles and the parking space between the two obstacle vehicles. However, in the prior art, a direct API interface has not yet been provided in the parking simulation test to obtain detailed information on the parking space and the vertex coordinates of the parking positions of the two obstacle vehicles. Developers need to manually calculate the location information of the parking space and the vertex coordinates of the parking position of the obstacle vehicle, which is not only time-consuming and labor-intensive, but also prone to calculation errors, thereby affecting the reliability and repeatability of the test results, and thus resulting in low efficiency in simulation debugging of parking.

[0088] In combination with the above scenarios, it can be seen that in the prior art, there is a technical problem that the efficiency of simulation debugging parking is low.

[0089] The graphical developer of autonomous driving applications provided by this application provides a graphical, drag-and-drop, low-code development mode that conforms to the development habits of vehicle engineers, allowing users to focus on rapid prototyping of application software and achieve agile delivery. Therefore, based on the simulated parking processing method of the graphical developer of autonomous driving applications, the 4 vertex coordinates of the parking space to be parked of the vehicle terminal and the 8 vertex coordinates of the target obstacle vehicle can be determined, and the simulated parking processing of the vehicle terminal in the autonomous driving scenario can be tested, which realizes the test of the autonomous driving of the car, improves the development efficiency, and solves the technical problem of low efficiency in improving the simulation debugging parking.

[0090] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0091] Figure 1 A flowchart of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0092] S101. In response to a start operation, a preset simulator is started on a graphical interface of a preset graphical developer; and in response to a selection operation, a target parking scene map is loaded on the graphical interface.

[0093] For example, the execution subject of this embodiment can be a preset graphical developer, or a terminal device, or a simulated parking processing device or device based on the autonomous driving application graphical developer, or other devices or equipment that can execute this embodiment, and there is no limitation on this, wherein the preset graphical developer is an autonomous driving application graphical developer. This embodiment is introduced with the execution subject being the graphical developer.

[0094] First, in response to the user's start operation, the preset simulator carla is started on the graphical interface of the preset graphical developer; and in response to the user's selection operation in the parking scene map list, the target parking scene map is loaded on the graphical interface. The target parking scene map includes environmental data, and the environmental data includes road information, building information, weather information, traffic light information, etc., which are not limited to this.

[0095] S102. In response to the simulated parking operation, the target obstacle vehicle and the vehicle terminal to be parked are displayed in the target parking scene map; and the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal are determined; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the vehicle length of the target obstacle vehicle is located and the straight line where the vehicle length of the vehicle terminal is located.

[0096] Exemplarily, the graphical interface includes a simulated parking button. Based on the user's click operation on the simulated parking button, the click operation is a simulated parking operation, and a preset configuration file is loaded; wherein the preset configuration file includes the center point coordinates of the target obstacle vehicle set by the user, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles, namely the first target obstacle vehicle and the second target obstacle vehicle. Then, according to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle, the first target obstacle vehicle, the second target obstacle vehicle, and the vehicle terminal to be parked are displayed in the parking scene map. Finally, according to the center point coordinates of the target obstacle vehicle, the first coordinate information of each target obstacle vehicle is calculated respectively, and according to the center point coordinates of the second target obstacle vehicle, the second coordinate information of the parking space to be parked of the vehicle terminal is calculated. Among them, there is a parking space to be parked between the first target obstacle vehicle and the second target obstacle vehicle, and the number of parking spaces to be parked is at least one, which is not limited to this; the second coordinate information includes a parking space identification ID.

[0097] S103: Perform simulated parking processing in an automatic driving scenario according to the first coordinate information and the second coordinate information.

[0098] Exemplarily, the first coordinate information and the second coordinate information are sent to the parking algorithm of the graphical developer for simulated parking processing in the autonomous driving scenario. Furthermore, the positioning coordinate data, chassis data, dynamic parameters, wheelbase, axle center distance, length value and width value of the vehicle terminal need to be sent to the parking algorithm of the graphical developer for simulated parking processing. Among them, the chassis data includes the speed, turning angle, gear position and other data of the vehicle terminal; the axle center distance includes the distance from the front edge to the rear axle center, the distance from the rear edge to the rear axle center, the distance from the left edge to the rear axle center, and the distance from the right edge to the rear axle center; the wheelbase refers to the distance from the center of the front axle to the center of the rear axle.

[0099] The simulated parking processing method based on the graphical developer of the autonomous driving application provided in the embodiment of the present application starts the preset simulator on the graphical interface of the preset graphical developer in response to the start operation; and loads the target parking scene map on the graphical interface in response to the selection operation. In response to the simulated parking operation, the target obstacle vehicle and the vehicle terminal to be parked are displayed in the target parking scene map; and the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal are determined; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the length of the target obstacle vehicle is located and the straight line where the length of the vehicle terminal is located. According to the first coordinate information and the second coordinate information, the simulated parking processing in the autonomous driving scenario is performed. In this solution, a spatial parking scene is created. In the parking scene between two cars in the spatial parking scene, the first coordinate information of the target obstacle vehicle (i.e. the 8 vertex coordinates of the target obstacle vehicle) and the second coordinate information of the parking space to be parked of the vehicle terminal (i.e. the 4 vertex coordinates of the parking space) can be automatically calculated. When the graphical developer of the autonomous driving application starts the carla spatial parking scene for simulation testing, after determining the 4 vertex coordinates of the parking space to be parked of the vehicle terminal and the 8 vertex coordinates of the target obstacle vehicle, the simulated parking processing of the vehicle terminal in the autonomous driving scene is tested, thereby realizing the test of the autonomous driving of the car and improving the development efficiency, so as to achieve the effect of improving the efficiency of simulation debugging parking.

[0100] Figure 2 A flowchart of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, a simulation parking processing method based on an autonomous driving application graphical developer is described in detail, and the method includes:

[0101] S201. In response to a start operation, a preset simulator is started on a graphical interface of a preset graphical developer; and in response to a selection operation, a target parking scene map is loaded on the graphical interface.

[0102] For example, this step can be referred to Figure 1 Step 101 in the above is not described in detail.

[0103] S202. In response to the simulated parking operation, a preset configuration file is loaded; wherein the configuration file includes the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles.

[0104] Exemplarily, the graphical interface includes a simulated parking button, and based on the user's click operation on the simulated parking button, the click operation is a simulated parking operation, and a preset configuration file is loaded; wherein the preset configuration file includes the center point coordinates of the target obstacle vehicle set by the user, the center point coordinates of the vehicle terminal, and the yaw angle (i.e., yaw value)* of the target obstacle vehicle; there are two target obstacle vehicles, namely, a first target obstacle vehicle and a second target obstacle vehicle.

[0105] S203. Display two target obstacle vehicles and the vehicle terminal to be parked in the parking scene map according to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle.

[0106] Exemplarily, the graphical developer can call the Python API generated interface provided by the underlying layer of Carla to display the first target obstacle vehicle, the second target obstacle vehicle, and the vehicle terminal to be parked in the parking scene map according to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle.

[0107] S204. Determine the parking type of the target obstacle vehicle according to the yaw angle of the target obstacle vehicle; wherein the yaw angle is obtained by loading a preset configuration file.

[0108] For example, the graphical developer can judge and determine the parking type of the target obstacle vehicle according to the yaw angle of the target obstacle vehicle. The yaw angle is obtained by loading the preset configuration file in the above steps. For example, the parking type is a vertical parking type, a horizontal parking type, or an oblique parking type; in general scenarios, the parking types of the two target obstacle vehicles are consistent. Furthermore, there are also scenarios where the parking types of the two target obstacle vehicles are inconsistent, which is not limited.

[0109] S205: Determine first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle.

[0110] In one example, S205 includes: based on multiple preset vehicle types of the target obstacle vehicle, determining the size information of the target obstacle vehicle under each preset vehicle type; for each target obstacle vehicle of the preset vehicle type, determining the first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0111] In one example, "for each target obstacle vehicle of a preset vehicle type, determine the first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle", including: for each target obstacle vehicle of a preset vehicle type, if the parking type is a vertical parking type, determine the first coordinate information of the target obstacle vehicle according to a preset vertical formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle; if the parking type is a horizontal parking type, determine the first coordinate information of the target obstacle vehicle according to a preset horizontal formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle; if the parking type is an oblique parking type, determine the first coordinate information of the target obstacle vehicle according to a preset oblique formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0112] Exemplarily, the graphical developer can determine the size information of the target obstacle vehicle under each preset vehicle type based on multiple preset vehicle types of the target obstacle vehicle, and the size information includes the length, width, height, etc. of the target obstacle vehicle. For each preset vehicle type of the target obstacle vehicle, the first coordinate information of each target obstacle vehicle is calculated according to the parking type of the target obstacle vehicle, the coordinates of the center point of each target obstacle vehicle, and the size information of the target obstacle vehicle; wherein the first coordinate information is the 8 vertices of the vehicle body in a counterclockwise direction, namely, upper left 1, left (i.e., the center point of the left side) 2, lower left 3, directly below (i.e., the center point directly below) 4, lower right 5, right (i.e., the center point of the right side) 6, upper right 7, directly above (i.e., the center point directly above) 8, as shown in FIG. Figure 3 As shown, Figure 3 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 1It should be noted that the first coordinate information of the target obstacle vehicle can be calculated based on the size information of each preset vehicle type, or the first coordinate information of the target obstacle vehicle can be calculated based on the size information of any preset vehicle type, without limitation; the size information includes the body width and vehicle length of the target obstacle vehicle.

[0113] Further, Figure 4 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 2 ,like Figure 4 As shown, for each target obstacle vehicle of a preset vehicle type, if the parking type is a vertical parking type, the first coordinate information of each target obstacle vehicle is determined according to the preset vertical formula, the center point coordinates (X1, Y1) of the first target obstacle vehicle, the center point coordinates (X2, Y2) of the second target obstacle vehicle, and the size information of the first and second target obstacle vehicles, wherein the size information of the first and second target obstacle vehicles are the same vehicle type, i.e., have the same size information. Specifically, taking the calculation of the first coordinate information of the first target obstacle vehicle as an example, the calculation of the preset vertical formula is as follows:

[0114] 1) The coordinates of the upper left point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1-(body length / 2), Y = the inverse of the coordinates of the own vehicle Y1-(vehicle width / 2);

[0115] 2) The left point coordinates of the first target obstacle vehicle are X = the own vehicle coordinates X1, Y = the opposite of the own vehicle coordinates Y1 - (vehicle width / 2);

[0116] 3) The coordinates of the lower left point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1 + (body length / 2), Y = the inverse of the coordinates of the own vehicle Y1 - (vehicle width / 2);

[0117] 4) The coordinates of the point directly below the first target obstacle vehicle are X = the coordinates of the own vehicle X1 + (body length / 2), and Y = the inverse of the coordinates of the own vehicle Y1;

[0118] 5) The coordinates of the lower right point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1 + (body length / 2), Y = the opposite of the coordinates of the own vehicle Y1 + (vehicle width / 2);

[0119] 6) The right point coordinates of the first target obstacle vehicle are X = the own vehicle coordinates X1, Y = the opposite of the own vehicle coordinates Y1 + (vehicle width / 2);

[0120] 7) The coordinates of the upper right point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1-(body length / 2), Y = the opposite of the coordinates of the own vehicle Y1+(vehicle width / 2);

[0121] 8) The coordinate of the top point of the first target obstacle vehicle X = the coordinate of the own vehicle X1-(body length / 2), Y = the inverse of the coordinate of the own vehicle Y1. It should be noted that, in the vertical parking type, the process of calculating the first coordinate information of the second target obstacle vehicle is the same as the process of calculating the first coordinate information of the first target obstacle vehicle above, and will not be repeated here.

[0122] Figure 5 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 3 ,like Figure 5 As shown, for each target obstacle vehicle of a preset vehicle type, if the parking type is a horizontal parking type, the first coordinate information (X, Y) of each target obstacle vehicle is determined according to the preset horizontal formula, the center point coordinates (X1, Y1) of the first target obstacle vehicle, the center point coordinates (X2, Y2) of the second target obstacle vehicle, and the size information of the first and second target obstacle vehicles, wherein the size information of the first and second target obstacle vehicles are the same vehicle type, i.e., have the same size information. Specifically, taking the calculation of the first coordinate information of the first target obstacle vehicle as an example, the calculation of the preset horizontal formula is as follows:

[0123] 1) The coordinates of the upper left point of the first target obstacle vehicle are X=the coordinates of the own vehicle X1+(body width / 2), and Y=the inverse of the coordinates of the own vehicle Y1-(vehicle length / 2).

[0124] 2) The left point coordinate of the first target obstacle vehicle is X=the coordinate of the own vehicle X1+(body width / 2), and Y=the inverse of the coordinate of the own vehicle Y1.

[0125] 3) The coordinates of the lower left point of the first target obstacle vehicle are X=the coordinates of the own vehicle X1+(body width / 2), and Y=the inverse of the coordinates of the own vehicle Y1+(vehicle length / 2).

[0126] 4) The coordinates of the point directly below the first target obstacle vehicle are X = the own vehicle coordinate X1, Y = the opposite of the own vehicle coordinate Y1 + (vehicle length / 2).

[0127] 5) The coordinates of the lower right point of the first target obstacle vehicle are X=the coordinates of the own vehicle X1-(body width / 2), and Y=the inverse of the coordinates of the own vehicle Y1+(vehicle length / 2).

[0128] 6) The right point coordinate of the first target obstacle vehicle is X=the coordinate of the own vehicle X1-(body width / 2), and Y=the inverse of the coordinate of the own vehicle Y1.

[0129] 7) The coordinates of the upper right point of the first target obstacle vehicle are X=the coordinates of the own vehicle X1-(body width / 2), and Y=the inverse of the coordinates of the own vehicle Y1-(vehicle length / 2).

[0130] 8) The coordinates of the top point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1, Y = the inverse of the coordinates of the own vehicle Y1 - (vehicle length / 2). It should be noted that, in the horizontal parking type, the process of calculating the first coordinate information of the second target obstacle vehicle is the same as the process of calculating the first coordinate information of the first target obstacle vehicle above, and will not be repeated here.

[0131] Figure 6 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 4 ,like Figure 6 As shown, for each target obstacle vehicle of a preset vehicle type, if the parking type is an oblique parking type, the first coordinate information of each target obstacle vehicle is determined according to the preset oblique formula, the center point coordinates (X1, Y1) of the first target obstacle vehicle, the center point coordinates (X2, Y2) of the second target obstacle vehicle, and the size information of the first and second target obstacle vehicles, wherein the size information of the first and second target obstacle vehicles are of the same vehicle type, i.e., have the same size information. Specifically, taking the calculation of the first coordinate information of the first target obstacle vehicle as an example, the calculation of the preset oblique formula is as follows:

[0132] 1) The coordinates of the upper left point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1 minus [(vehicle length / 2) multiplied by the cosine value of 30 degrees], plus [(vehicle width / 2) multiplied by the sine value of 30 degrees]; Y = the coordinates of the own vehicle Y1 minus [(vehicle length / 2) multiplied by the sine value of 30 degrees], minus [(vehicle width / 2) multiplied by the cosine value of 30 degrees].

[0133] 2) The left point coordinates of the first target obstacle vehicle are X = the vehicle coordinates X1 plus [(vehicle width / 2) multiplied by the sine value of 30 degrees], and Y = the vehicle coordinates Y1 minus [(vehicle width / 2) multiplied by the cosine value of 30 degrees].

[0134] 3) The coordinates of the lower left point of the first target obstacle vehicle are X = the coordinates of the vehicle itself X1 plus [(vehicle length / 2) multiplied by the cosine value of 30 degrees], plus [(vehicle width / 2) multiplied by the sine value of 30 degrees], Y = the coordinates of the vehicle itself Y1 plus [(vehicle length / 2) multiplied by the sine value of 30 degrees], minus [(vehicle width / 2) multiplied by the cosine value of 30 degrees].

[0135] 4) The coordinates of the point directly below the first target obstacle vehicle are X = the coordinates of the vehicle itself X1 plus [(vehicle length / 2) multiplied by the cosine value of 30 degrees, Y = the coordinates of the vehicle itself Y1 plus [(vehicle length / 2) multiplied by the sine value of 30 degrees].

[0136] 5) The coordinates of the lower right point of the first target obstacle vehicle, X = the coordinates of the own vehicle, X1 minus [(vehicle width / 2) multiplied by the sine value of 30 degrees], plus [(vehicle length / 2) multiplied by the cosine value of 30 degrees], Y = the coordinates of the own vehicle, Y1 plus [(vehicle width / 2) multiplied by the cosine value of 30 degrees], plus [(vehicle length / 2) multiplied by the sine value of 30 degrees].

[0137] 6) The right point coordinates of the first target obstacle vehicle are X = the own vehicle coordinates X1 minus [(body width / 2) multiplied by the sine value of 30 degrees], and Y = the own vehicle coordinates Y1 plus [(body width / 2) multiplied by the cosine value of 30 degrees].

[0138] 7) The coordinates of the upper right point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1 minus [(vehicle width / 2) multiplied by the sine value of 30 degrees], minus [(vehicle length / 2) multiplied by the cosine value of 30 degrees], Y = the coordinates of the own vehicle Y1 plus [(vehicle width / 2) multiplied by the cosine value of 30 degrees], minus [(vehicle length / 2) multiplied by the sine value of 30 degrees].

[0139] 8) The coordinates of the top point of the first target obstacle vehicle are X = the coordinates of the own vehicle X1 minus [(vehicle length / 2) multiplied by the cosine value of 30 degrees], Y = the coordinates of the own vehicle Y1 minus [(vehicle length / 2) multiplied by the sine value of 30 degrees]. It should be noted that, in the case of oblique parking, the process of calculating the first coordinate information of the second target obstacle vehicle is the same as the process of calculating the first coordinate information of the first target obstacle vehicle above, which will not be repeated here; the above three calculation methods are only examples and are not limited to this, and 8 vertices can be calculated.

[0140] S206. Determine second coordinate information of the parking space to be parked of the vehicle terminal according to the center point coordinates of one of the two preset target obstacle vehicles; wherein the center point coordinates of the target obstacle vehicle are obtained by loading a configuration file.

[0141] In one example, S206 includes: the target obstacle vehicle includes a first target obstacle vehicle and a second target obstacle vehicle; the second target obstacle vehicle is an obstacle vehicle located on the left side in the exit scenario facing the parking space to be parked; the second target obstacle vehicle is an obstacle vehicle preset in the configuration file for determining the second coordinate information; the center point coordinates of the parking space to be parked of the vehicle terminal are determined according to the center point coordinates of the second target obstacle vehicle, the size information of the second target obstacle vehicle, and the preset parking space size; the second coordinate information of the parking space to be parked of the vehicle terminal is determined according to the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle.

[0142] In one example, "determining the second coordinate information of the parking space to be parked of the vehicle terminal based on the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle" includes: determining the target formula corresponding to the second target obstacle vehicle based on a mapping relationship between a preset formula and the parking type of the target obstacle vehicle; wherein the parking type is a vertical parking type, or a horizontal parking type, or a diagonal parking type; determining the second coordinate information of the parking space to be parked of the vehicle terminal based on the center point coordinates of the parking space to be parked of the vehicle terminal and the target formula.

[0143] For example, Figure 7 A scenario diagram of a simulated parking processing method based on an autonomous driving application graphical developer provided in this application Figure 5 ,like Figure 7 As shown, taking vertical parking as an example, the target obstacle vehicles include the first target obstacle vehicle and the second target obstacle vehicle; the second target obstacle vehicle is the obstacle vehicle on the left side in the exit scene facing the parking space to be parked; and, since the configuration file includes the center point coordinates of the two target obstacle vehicles, the second target obstacle vehicle is the obstacle vehicle preset in the configuration file for determining the second coordinate information. The graphical developer can determine the center point coordinates of the parking space to be parked of the vehicle terminal according to the center point coordinates of the second target obstacle vehicle among the two vehicles, the size information of the second target obstacle vehicle, and the preset parking space size, and determine the second coordinate information of the parking space to be parked of the vehicle terminal according to the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle. Among them, the center point coordinates of the second target obstacle vehicle are obtained by loading the configuration file; the size information of the second target obstacle vehicle includes width and length; the preset parking space size includes the default parking space width, the default parking space length, and the default oblique parking space length. For example, based on the center point coordinates (X2, Y2) of the second target obstacle vehicle, the center point coordinates (X3, Y3) of the parking space to be parked of the vehicle terminal are determined; based on the center point coordinates (X3, Y3) of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle, the second coordinate information (X4, Y4) of the parking space to be parked of the vehicle terminal is determined.

[0144] Furthermore, taking a parking space to be parked as an example, the target formula corresponding to the second target obstacle vehicle is determined according to the mapping relationship between the preset formula and the parking type of the target obstacle vehicle. Wherein, when the parking type is a vertical parking type, the target formula is a target vertical formula; or, when the parking type is a horizontal parking type, the target formula is a target horizontal formula; or, when the parking type is an oblique parking type, the target formula is a target oblique formula. According to the center point coordinates of the parking space to be parked of the vehicle terminal and the target formula, the second coordinate information of the parking space to be parked of the vehicle terminal is determined; wherein, the second coordinate information is the coordinates of the four vertices of the parking space to be parked of the vehicle terminal, which are upper left, lower left, lower right, and upper right, respectively.

[0145] Specifically, when the yaw is judged to be parked vertically, based on the target vertical formula, the calculation method for each point is as follows:

[0146] First, calculate the center point coordinates (X3, Y3) of the parking space to be parked of the vehicle terminal, X3 = X2 of the second target obstacle vehicle, Y3 = Y2 of the second target obstacle vehicle + (width of the second target obstacle vehicle / 2) + 0.5 + (default parking space width / 2).

[0147] 1) The coordinates of the upper left point of the parking space X4 = the center point of the parking space X3-(default parking space length / 2), Y4 = the center point of the parking space Y3-(default parking space width / 2).

[0148] 2) The coordinates of the lower left point of the parking space X4 = the center point of the parking space X3 + (default parking space length / 2), Y4 = the center point of the parking space Y3 - (default parking space width / 2).

[0149] 3) The coordinates of the lower right point of the parking space X4 = the center point of the parking space X3 + (default parking space length / 2), Y4 = the center point of the parking space Y3 + (default parking space width / 2).

[0150] 4) The coordinates of the upper right point of the parking space X4 = the center point of the parking space X3 - (default parking space length / 2), Y4 = the center point of the parking space Y3 + (default parking space width / 2).

[0151] When the yaw is judged to be parked horizontally, based on the target horizontal formula, the calculation of each point is as follows:

[0152] First, calculate the center point coordinates (X3, Y3) of the parking space, X3 = X2 of the second target obstacle vehicle, Y3 = Y2 value of the second target obstacle vehicle + (length of the second target obstacle vehicle / 2) + 0.5 + (default parking space length / 2).

[0153] 1) The coordinates of the upper left point of the parking space X4 = the center point of the parking space X3-(default parking space width / 2), Y4 = the center point of the parking space Y3-(default parking space length / 2).

[0154] 2) The coordinates of the lower left point of the parking space X4 = the center point of the parking space X3 + (default parking space width / 2), Y4 = the center point of the parking space Y3 - (default parking space length / 2).

[0155] 3) The coordinates of the lower right point of the parking space X4 = the center point of the parking space X3 + (default parking space width / 2), Y4 = the center point of the parking space Y3 + (default parking space length / 2).

[0156] 4) The coordinates of the upper right point of the parking space X4 = the center point of the parking space X3 - (default parking space width / 2), Y4 = the center point of the parking space Y3 + (default parking space length / 2).

[0157] When the yaw is judged to be parked obliquely, based on the target oblique formula, the calculation method for each point is as follows:

[0158] First, calculate the center point coordinates of the parking space (X3, Y3), X3 = X2 of the second target obstacle vehicle, Y3 = Y2 of the second target obstacle vehicle + [the width of the second target obstacle vehicle divided by (the square root of 3)] + 0.5 + [the default parking space width divided by (the square root of 3)].

[0159] 1) The coordinates of the upper left point of the parking space X4 = the center point X3 of the parking space - [(default oblique parking space length / 2)*30 degrees cosine value], Y4 = the center point Y3 of the parking space - [(default oblique parking space length / 2)*30 degrees sine value] - (default parking space width / 2).

[0160] 2) The coordinates of the lower left point of the parking space X4 = the center point X3 of the parking space + [(default diagonal parking space length / 2)*30 degrees cosine value], Y4 = the center point Y3 of the parking space + [(default diagonal parking space length / 2)*30 degrees sine value] - (default parking space width / 2).

[0161] 3) The coordinates of the lower right point of the parking space X4 = the center point X3 of the parking space + [(default diagonal parking space length / 2)*30 degree cosine value], Y4 = the center point Y3 of the parking space + [(default diagonal parking space length / 2)*30 degree sine value] + (default parking space width / 2).

[0162] 4) The coordinates of the upper right point of the parking space X4 = the center point X3 of the parking space - [(default diagonal parking space length / 2)*30 degrees cosine value], Y4 = the center point Y3 of the parking space - [(default diagonal parking space length / 2)*30 degrees sine value] + (default parking space width / 2).

[0163] S207: Determine the parking type of the parking space to be parked according to the parking type of the target obstacle vehicle.

[0164] For example, the graphical developer can determine the parking type of the parking space to be parked according to the parking type of the target obstacle vehicle. For example, in general, the parking type of the parking space to be parked is the same as the parking type of the target obstacle vehicle; in special cases, the parking type of the parking space to be parked may be different from the parking type of the target obstacle vehicle, and this is not limited.

[0165] S208. Perform simulated parking processing in an automatic driving scenario according to the first coordinate information and the second coordinate information.

[0166] In one example, S208 includes: sending the first coordinate information, the second coordinate information, the center point coordinates of the parking space to be parked of the vehicle terminal, and the parking type of the parking space to be parked to the parking algorithm of the graphical developer to perform simulated parking processing in an autonomous driving scenario.

[0167] Exemplarily, the graphical developer can send the first coordinate information (X, Y), the second coordinate information (X4, Y4), the center point coordinates of the parking space to be parked (X3, Y3) of the vehicle terminal, and the parking type of the parking space to be parked to the parking algorithm of the graphical developer for simulated parking processing in an autonomous driving scenario.

[0168] The simulated parking processing method based on the graphical developer of the automatic driving application provided in the embodiment of the present application starts the preset simulator on the graphical interface of the preset graphical developer in response to the start operation; and loads the target parking scene map on the graphical interface in response to the selection operation. In response to the simulated parking operation, load the preset configuration file; wherein the configuration file includes the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles. According to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle, display the two target obstacle vehicles and the vehicle terminal to be parked in the parking scene map. According to the yaw angle of the target obstacle vehicle, determine the parking type of the target obstacle vehicle; wherein the yaw angle is obtained by loading the preset configuration file. Based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle, determine the first coordinate information of the target obstacle vehicle. According to the center point coordinates of the preset target obstacle vehicle among the two vehicles, determine the second coordinate information of the parking space to be parked of the vehicle terminal; wherein the center point coordinates of the target obstacle vehicle are obtained by loading the configuration file. According to the parking type of the target obstacle vehicle, the parking type of the parking space to be parked is determined. According to the first coordinate information and the second coordinate information, a simulated parking process is performed in the autonomous driving scenario; wherein the autonomous driving scenario includes the actual angle value between the straight line where the length of the target obstacle vehicle is located and the straight line where the length of the vehicle terminal is located. In this solution, a spatial parking space parking scene is created. In the parking space between two vehicles in the spatial parking space parking scene, the first coordinate information of the target obstacle vehicle (i.e., the 8 vertex coordinates of the target obstacle vehicle) and the second coordinate information of the parking space to be parked of the vehicle terminal (i.e., the 4 vertex coordinates of the parking space) can be automatically calculated. When the graphical developer of the autonomous driving application starts the carla spatial parking space scene for simulation testing, the simulated parking process of the vehicle terminal in the autonomous driving scenario is tested when the 4 vertex coordinates of the parking space to be parked of the vehicle terminal and the 8 vertex coordinates of the target obstacle vehicle are determined, thereby realizing the test of the autonomous driving of the car and improving the development efficiency, so as to achieve the effect of improving the efficiency of the simulation debugging parking.

[0169] Figure 8 A schematic diagram of the process of a simulated parking processing device based on an autonomous driving application graphical developer provided in this application Figure 3 ,like Figure 8As shown, the method includes starting the carla simulator; loading a configuration file to parse the coordinate information of two target obstacle vehicles, and then calling the python api provided by Carla according to the coordinate information of the two vehicles to generate two target obstacle vehicles, the target obstacle vehicles being obstacles; calculating the eight vertex coordinates (upper left, left, lower left, directly below, lower right, right, upper right, directly above) of each target obstacle vehicle through the center point coordinates of the two target obstacle vehicles and the vehicle model size of the target obstacle vehicle; generating the second coordinate information of the parking space to be parked of the vehicle terminal, namely the parking space information, according to the center point coordinates of a certain target obstacle vehicle as a condition, through the self-implemented parking space generation function (including the target formula); sending the parking space information and the 8 vertex coordinates of the obstacle to the parking algorithm of the graphical developer of the autonomous driving application (pub), so as to provide the parking algorithm for simulation testing.

[0170] Therefore, considering that in the existing graphical developer of autonomous driving applications, there are many repetitive geometric calculations when CARLA manually calculates parking space information, this application only needs to rely on the center coordinate points, body size and yaw angle (yaw angle) of the two target obstacle vehicles, and the 8 vertex coordinates of the target obstacle vehicle, the 4 vertex coordinates of the parking space to be parked and the parking type can be automatically calculated through the introduced geometric algorithm. Through the geometric algorithm, the parking space information can be effectively extracted and managed, thereby simplifying the complex, improving development efficiency, and building a more convenient and automatic generation of parking space information between two vehicles in the spatial parking scene, which can make the test results more reliable and repeatable.

[0171] Fig. 9 A schematic diagram of the structure of a simulated parking processing device based on an autonomous driving application graphical developer provided in this application is shown in FIG. Fig. 9 As shown, the simulated parking processing device 30 based on the autonomous driving application graphical developer provided in this embodiment includes:

[0172] The starting module 31 is used to start a preset simulator on a graphical interface of a preset graphical developer in response to a starting operation.

[0173] The loading module 32 is used to load the target parking scene map on the graphical interface in response to the selection operation.

[0174] The display module 33 is used to display the target obstacle vehicle and the vehicle terminal to be parked in the target parking scene map in response to the simulated parking operation.

[0175] The determination module 34 is used to determine the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space of the vehicle terminal; wherein the parking space is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the vehicle length of the target obstacle vehicle is located and the straight line where the vehicle length of the vehicle terminal is located.

[0176] The parking module 35 is used to perform simulated parking processing in an automatic driving scenario according to the first coordinate information and the second coordinate information.

[0177] Fig.10 A schematic diagram of the structure of another simulated parking processing device based on an autonomous driving application graphical developer provided in an embodiment of the present application, Fig. 9 Based on the embodiment shown, Fig.10 As shown, the display module 33 is specifically used for:

[0178] In response to the simulated parking operation, a preset configuration file is loaded; wherein the configuration file includes the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles;

[0179] According to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle, two target obstacle vehicles and the vehicle terminal to be parked are displayed in the parking scene map.

[0180] In a possible implementation, there are two target obstacle vehicles; the determination module 34 includes:

[0181] The first determination unit 341 is used to determine the parking type of the target obstacle vehicle according to the yaw angle of the target obstacle vehicle; wherein the yaw angle is obtained by loading a preset configuration file;

[0182] The second determining unit 342 is used to determine the first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle;

[0183] The third determining unit 343 is used to determine the second coordinate information of the parking space of the vehicle terminal according to the center point coordinates of the preset target obstacle vehicle among the two vehicles; wherein the center point coordinates of the target obstacle vehicle are obtained by loading a configuration file.

[0184] In a possible implementation, the second determining unit 342 includes:

[0185] The first determining subunit 3421 is used to determine the size information of the target obstacle vehicle under each preset vehicle type based on multiple preset vehicle types of the target obstacle vehicle;

[0186] The second determining subunit 3422 is used to determine the first coordinate information of the target obstacle vehicle for each preset vehicle type based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0187] In a possible implementation manner, the second determining subunit 3422 is specifically configured to:

[0188] For each target obstacle vehicle of a preset vehicle type, if the parking type is a vertical parking type, the first coordinate information of the target obstacle vehicle is determined according to a preset vertical formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle;

[0189] If the parking type is a horizontal parking type, the first coordinate information of the target obstacle vehicle is determined according to a preset horizontal formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle;

[0190] If the parking type is an oblique parking type, the first coordinate information of the target obstacle vehicle is determined according to a preset oblique formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

[0191] In a possible implementation, the target obstacle vehicle includes a first target obstacle vehicle and a second target obstacle vehicle; the second target obstacle vehicle is an obstacle vehicle located on the left side in an exit scenario facing the parking space to be parked; the second target obstacle vehicle is an obstacle vehicle preset in the configuration file for determining the second coordinate information.

[0192] The third determining unit 343 includes:

[0193] The third determining subunit 3431 is used to determine the center point coordinates of the parking space to be parked of the vehicle terminal according to the first coordinate information of the second target obstacle vehicle, the size information of the second target obstacle vehicle, and the preset parking space size;

[0194] The fourth determining subunit 3432 is used to determine the second coordinate information of the parking space of the vehicle terminal according to the center point coordinates of the parking space of the vehicle terminal and the parking type of the second target obstacle vehicle.

[0195] In a possible implementation manner, the fourth determining subunit 3432 is specifically configured to:

[0196] According to the mapping relationship between the preset formula and the parking type of the target obstacle vehicle, a target formula corresponding to the second target obstacle vehicle is determined; wherein the parking type is a vertical parking type, a horizontal parking type, or an oblique parking type;

[0197] The second coordinate information of the parking space of the vehicle terminal is determined according to the center point coordinates of the parking space of the vehicle terminal and the target formula.

[0198] In a possible implementation, the device is further specifically used for:

[0199] The parking type of the parking space to be parked is determined according to the parking type of the target obstacle vehicle.

[0200] The parking module 35 is specifically used for:

[0201] The first coordinate information, the second coordinate information, the center point coordinates of the parking space to be parked of the vehicle terminal, and the parking type of the parking space to be parked are sent to the parking algorithm of the graphical developer to perform simulated parking processing in the autonomous driving scenario.

[0202] The device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0203] Fig.11 This is a schematic diagram of the structure of the graphical developer provided in this application. Fig.11 As shown, the graphical developer 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0204] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0205] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0206] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0207] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0208] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0209] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0210] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0211] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0212] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0213] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0214] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0216] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0217] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0218] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A simulation parking processing method based on an autonomous driving application graphical developer, characterized in that: include: In response to the start-up operation, a preset simulator is started on a graphical interface of a preset graphical developer; and in response to the selection operation, loading a target parking scene map on the graphical interface; In response to the simulated parking operation, displaying the target obstacle vehicle and the vehicle terminal to be parked in the target parking scene map; and determining the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the length of the target obstacle vehicle is located and the straight line where the length of the vehicle terminal is located; According to the first coordinate information and the second coordinate information, simulated parking processing is performed in an automatic driving scenario.

2. The method according to claim 1, characterized in that In response to the simulated parking operation, displaying the target obstacle vehicle and the vehicle terminal to be parked in the target parking scene map includes: In response to the simulated parking operation, a preset configuration file is loaded; wherein the configuration file includes the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle; there are two target obstacle vehicles; According to the center point coordinates of the target obstacle vehicle, the center point coordinates of the vehicle terminal, and the yaw angle of the target obstacle vehicle, two target obstacle vehicles and the vehicle terminal to be parked are displayed in the parking scene map.

3. The method according to claim 1, characterized in that There are two target obstacle vehicles; the determining of the first coordinate information of the target obstacle vehicles and the second coordinate information of the parking space to be parked of the vehicle terminal includes: Determine the parking type of the target obstacle vehicle according to the yaw angle of the target obstacle vehicle; wherein the yaw angle is obtained by loading a preset configuration file; Determine first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle; According to the center point coordinates of the preset target obstacle vehicles among the two vehicles, the second coordinate information of the parking space to be parked of the vehicle terminal is determined; wherein the center point coordinates of the target obstacle vehicle are obtained by loading the configuration file.

4. The method according to claim 3, characterized in that: The determining the first coordinate information of the target obstacle vehicle based on the parking type of the target obstacle vehicle and the center point coordinates of the target obstacle vehicle includes: Based on a plurality of preset vehicle types of the target obstacle vehicle, determining size information of the target obstacle vehicle under each preset vehicle type; For each target obstacle vehicle of a preset vehicle type, first coordinate information of the target obstacle vehicle is determined based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

5. The method according to claim 4, characterized in that The method for determining the first coordinate information of the target obstacle vehicle for each preset vehicle type based on the parking type of the target obstacle vehicle, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle includes: For each target obstacle vehicle of a preset vehicle type, if the parking type is a vertical parking type, determining the first coordinate information of the target obstacle vehicle according to a preset vertical formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle; If the parking type is a horizontal parking type, determining the first coordinate information of the target obstacle vehicle according to a preset horizontal formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle; If the parking type is an oblique parking type, the first coordinate information of the target obstacle vehicle is determined according to a preset oblique formula, the center point coordinates of the target obstacle vehicle, and the size information of the target obstacle vehicle.

6. The method according to claim 3, characterized in that: The target obstacle vehicle includes a first target obstacle vehicle and a second target obstacle vehicle; the second target obstacle vehicle is an obstacle vehicle located on the left side in the exit scene facing the parking space to be parked; The second target obstacle vehicle is an obstacle vehicle preset in the configuration file and used to determine the second coordinate information; The step of determining the second coordinate information of the parking space to be parked of the vehicle terminal according to the center point coordinates of the preset target obstacle vehicles among the two vehicles includes: Determine the center point coordinates of the parking space to be parked of the vehicle terminal according to the center point coordinates of the second target obstacle vehicle, the size information of the second target obstacle vehicle, and the preset parking space size; The second coordinate information of the parking space to be parked of the vehicle terminal is determined according to the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle.

7. The method according to claim 6, characterized in that The determining, according to the center point coordinates of the parking space to be parked of the vehicle terminal and the parking type of the second target obstacle vehicle, second coordinate information of the parking space to be parked of the vehicle terminal includes: Determine the target formula corresponding to the second target obstacle vehicle according to the mapping relationship between the preset formula and the parking type of the target obstacle vehicle; wherein the parking type is a vertical parking type, a horizontal parking type, or an oblique parking type; The second coordinate information of the parking space of the vehicle terminal is determined according to the center point coordinates of the parking space of the vehicle terminal and the target formula.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: Determine the parking type of the parking space to be parked according to the parking type of the target obstacle vehicle; The performing simulation parking processing in the automatic driving scenario according to the first coordinate information and the second coordinate information includes: The first coordinate information, the second coordinate information, the center point coordinates of the parking space to be parked of the vehicle terminal, and the parking type of the parking space to be parked are sent to the parking algorithm of the graphical development platform to perform simulated parking processing in the autonomous driving scenario.

9. A simulated parking processing device based on an autonomous driving application graphical developer, characterized in that: include: A startup module, used for starting a preset simulator on a graphical interface of a preset graphical developer in response to a startup operation; A loading module, configured to load a target parking scene map on the graphical interface in response to a selection operation; A display module, configured to display a target obstacle vehicle and a vehicle terminal to be parked in the target parking scene map in response to a simulated parking operation; A determination module, used to determine the first coordinate information of the target obstacle vehicle and the second coordinate information of the parking space to be parked of the vehicle terminal; wherein the parking space to be parked is between the target obstacle vehicles; the first coordinate information and the second coordinate information are both determined based on the actual angle value between the straight line where the vehicle length of the target obstacle vehicle is located and the straight line where the vehicle length of the vehicle terminal is located; The parking module is used to perform simulated parking processing in an automatic driving scenario according to the first coordinate information and the second coordinate information.

10. A graphical developer, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 8.

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