Vertical parking method, device, equipment and medium

Abstract

The invention discloses a vertical parking method, device and equipment and a medium, and belongs to the technical field of computers. The method comprises the following steps: acquiring current driving position information of a vehicle and a parking type of the vehicle; determining first pose information of a first end point corresponding to the parking type, second pose information of a second end point corresponding to the parking type and drivable area information, wherein the second end point is located in a vertical parking space; based on the driving position information, the first pose information, the second pose information and the drivable area information, utilizing a first path search algorithm to obtain a first parking path; based on the first pose information, the second pose information and the drivable area information, utilizing a second path search algorithm to obtain a second parking path; and based on the first parking path and the second parking path, the vehicle is controlled to run to the vertical parking space.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to the fields of perception technology and autonomous driving, etc., and particularly relates to a method, apparatus, device and medium for perpendicular parking. Background Art

[0002] In the logistics scenario of autonomous driving technology, last-mile delivery usually refers to the final delivery process from the last distribution center to the station. In this process, the autonomous vehicle automatically searches for a parking space and completes the parking task in a narrow or crowded space through automatic parking technology.

[0003] Currently, in the parking path planning scheme based on the parking algorithm in the related art, a hybrid A star plus Reed Sheep curve can be used to generate a path. The hybrid A star algorithm is a search method that conforms to vehicle kinematics. It can search for a curve that may include multiple forward or backward movements in the drivable area of the vehicle to let the vehicle reach near the target point, and then combined with the Reed Sheep curve, the vehicle can accurately reach the target point by moving forward and backward. Summary of the Invention

[0004] This application provides a method, apparatus, device and medium for perpendicular parking, which can solve the problem of poor reliability in perpendicular parking path planning. The technical solutions are as follows:

[0005] In a first aspect, a method for perpendicular parking is provided. The method includes:

[0006] Obtain the current driving position information of the vehicle and the parking type of the vehicle;

[0007] Determine the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to the parking type, where the second end point is located within the perpendicular parking space;

[0008] Based on the driving position information, the first pose information, the second pose information, and the drivable area information, use a first path search algorithm to obtain a first parking path;

[0009] Based on the first pose information, the second pose information, and the drivable area information, use a second path search algorithm to obtain a second parking path;

[0010] Based on the first parking path and the second parking path, control the vehicle to drive to the perpendicular parking space.

[0011] In a possible implementation manner, the determining the first pose information of the first end point and the second pose information of the second end point corresponding to the parking type includes:

[0012] Obtain the high-precision map information corresponding to the vehicle and the parking space position information of the vertical parking space;

[0013] Based on the parking space position information and the high-precision map information, construct a local coordinate system for parking;

[0014] Based on the local coordinate system, perform transformation processing on the parking space position information to determine the second pose information of the second end point corresponding to the parking type;

[0015] Based on the second pose information of the second end point and the parking type, use a geometric algorithm to determine the first pose information of the first end point corresponding to the parking type.

[0016] In a possible implementation manner, determining the drivable area information corresponding to the parking type includes:

[0017] Based on the high-precision map information and the driving position information, obtain the center line and boundary line of the lane where the vehicle travels;

[0018] Based on the first pose information of the first end point, the second pose information of the second end point, the center line and boundary line of the lane, and the parking type, perform expansion processing on the driving area of the vehicle;

[0019] Based on the result of the expansion processing, determine the drivable area information corresponding to the parking type.

[0020] In a possible implementation manner, the controlling the vehicle to travel to the vertical parking space based on the first parking path and the second parking path includes:

[0021] Perform smoothing processing on the first parking path and the second parking path respectively;

[0022] Based on the smoothed first parking path and second parking path, obtain a target parking path;

[0023] Perform transformation processing on the target parking path to obtain a global target parking path;

[0024] Based on the global target parking path, control the vehicle to travel to the vertical parking space.

[0025] In a possible implementation manner, the obtaining the first parking path by using the first path search algorithm based on the driving position information, the first pose information, the second pose information, and the drivable area information includes:

[0026] Obtain the parking space identifier of the vertical parking space;

[0027] Obtain the parking space position information of the vertical parking space based on the parking space identifier of the vertical parking space;

[0028] Based on a preset distance condition, the driving position information, and the parking space position information, determine whether the vehicle enters a parking scenario;

[0029] In response to the vehicle entering the parking scenario, based on the driving position information, the first pose information, the second pose information, and the drivable area information, use a first path search algorithm to obtain a first parking path.

[0030] In a second aspect, a vertical parking device includes:

[0031] A first acquisition unit for acquiring the current driving position information of the vehicle and the parking type of the vehicle;

[0032] A first determination unit for determining the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to the parking type, where the second end point is located within the vertical parking space;

[0033] A first search unit for obtaining a first parking path based on the driving position information, the first pose information, the second pose information, and the drivable area information by using a first path search algorithm;

[0034] A second search unit for obtaining a second parking path based on the first pose information, the second pose information, and the drivable area information by using a second path search algorithm;

[0035] A first control unit for controlling the vehicle to drive to the vertical parking space based on the first parking path and the second parking path.

[0036] In a third aspect, a computer-readable storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the methods in the above aspects and any possible implementation manners.

[0037] In a fourth aspect, an electronic device includes:

[0038] At least one processor; and

[0039] A memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the methods in the above aspects and any possible implementation manners.

[0041] Fifth aspect, a computer program product is provided, including a computer program which, when executed by a processor, implements the methods of the above-described aspect and any possible implementation manners.

[0042] Sixth aspect, an autonomous vehicle is provided, including the electronic device as described above.

[0043] The beneficial effects of the technical solutions provided in this application at least include:

[0044] As can be seen from the above technical solutions, embodiments of this application can obtain the current driving position information of the vehicle and the parking type of the vehicle, and then can determine the first pose information of the first end point corresponding to the parking type, the second pose information of the second end point, and the drivable area information. The second end point is located in a perpendicular parking space. Based on the driving position information, the first pose information, the second pose information, and the drivable area information, a first parking path is obtained by using a first path search algorithm. Based on the first pose information, the second pose information, and the drivable area information, a second parking path is obtained by using a second path search algorithm. Based on the first parking path and the second parking path, the vehicle is controlled to drive to the perpendicular parking space. Since a path search and planning can be performed first according to the second pose information of the second end point corresponding to the parking type of the autonomous vehicle and the drivable area information, and then another path search and planning is performed based on the first pose information of the first end point, the second pose information of the second end point, and the drivable area information, the vehicle can be controlled to complete the perpendicular parking action based on the first parking path and the second parking path obtained from the two search and planning processes. It can ensure the accuracy of the parking path planning while realizing the standardization of the parking process, improving the smoothness of the parking process, and thus improving the reliability of the perpendicular parking of the autonomous vehicle.

[0045] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of this application, nor is it used to limit the scope of this application. Other features of this application will become easily understood through the following description. Description of the Drawings

[0046] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 is a schematic flowchart of a method for perpendicular parking provided by an embodiment of this application;

[0048] Figure 2 It is a schematic flowchart of a vertical parking method provided by another embodiment of the present application;

[0049] Figure 3 It is a schematic diagram of the positions of the first end point and the second end point of a parking type in the vertical parking method provided by another embodiment of the present application;

[0050] Figure 4 It is a schematic diagram of the positions of the first end point and the second end point of another parking type in the vertical parking method provided by another embodiment of the present application;

[0051] Figure 5 It is a schematic diagram of the positions of the first end point and the second end point of yet another parking type in the vertical parking method provided by another embodiment of the present application;

[0052] Figure 6 It is a schematic diagram of the drivable area in the vertical parking method provided by another embodiment of the present application;

[0053] Figure 7 It is a schematic diagram of entering the parking scenario in the vertical parking method provided by another embodiment of the present application;

[0054] Figure 8 It is a schematic diagram of searching for the first parking path in the vertical parking method provided by another embodiment of the present application;

[0055] Figure 9 It is a schematic diagram of searching for the second parking path in the vertical parking method provided by another embodiment of the present application;

[0056] Figure 10 It is a schematic diagram of the target parking path in the vertical parking method provided by another embodiment of the present application;

[0057] Figure 11 It is a schematic diagram of the application scenario of the vertical parking method provided by another embodiment of the present application;

[0058] Figure 12 It is a structural block diagram of a vertical parking device provided by still another embodiment of the present application;

[0059] Figure 13 It is a block diagram of an electronic device for implementing the vertical parking method of the embodiments of the present application. Detailed implementation manners

[0060] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. Various details of the embodiments of the present application are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, descriptions of well-known functions and structures are omitted in the following description for clarity and conciseness.

[0061] Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0062] It should be noted that the terminal devices involved in the embodiments of the present application may include, but are not limited to, intelligent devices such as mobile phones, personal digital assistants (PDAs), wireless handheld devices, and tablet computers (Tablet Computers); display devices may include, but are not limited to, devices with display functions such as personal computers and televisions.

[0063] In addition, the term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the preceding and following associated objects.

[0064] Currently, in the parking path planning scheme based on the parking algorithm in the related art, a hybrid A star plus Reed Sheep curve can be used to generate a path. The hybrid A star algorithm is a search method that conforms to vehicle kinematics. It can search for a curve that may include multiple forward or backward movements in the drivable area of the vehicle to let the vehicle reach near the target point. The Reed Sheep curve is composed of an arc formed by the minimum turning radius of the vehicle and a straight line tangent to it, and the vehicle reaches the target point accurately by moving forward and backward.

[0065] However, there are the following problem points in the path planning scheme in the related art: On the one hand, the searched path has multiple forward and backward movements, and the action route of the vehicle cannot be predicted. On the other hand, the planned routes for the vehicle to park in the same parking space may not be the same each time, which is not conducive to the standardization process. For example, when parking in for the first time, the vehicle is divided into a forward section -> a reverse section -> a forward section -> a reverse section -> parking completed, and the second time may only be a forward section plus a reverse section to complete the parking.

[0066] Therefore, there is an urgent need for a method for vertical parking to effectively plan the path of the vehicle for vertical parking, thereby ensuring the reliability of the vehicle parking process.

[0067] Please refer to Figure 1 , which shows a schematic flow chart of a method for vertical parking provided by an embodiment of the present application. The method for vertical parking may specifically include:

[0068] Step 101, obtain the current driving position information of the vehicle and the parking type of the vehicle.

[0069] Step 102, determine the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to the parking type, where the second end point is located within the vertical parking space.

[0070] Step 103, based on the driving position information, the first pose information, the second pose information, and the drivable area information, use a first path search algorithm to obtain a first parking path.

[0071] Step 104, based on the first pose information, the second pose information, and the drivable area information, use a second path search algorithm to obtain a second parking path.

[0072] Step 105, based on the first parking path and the second parking path, control the vehicle to drive to the vertical parking space.

[0073] It should be noted that the parking type of the vehicle can be obtained from the parking task information received by the vehicle in advance. The parking type can be determined according to the actual driving environment around the parking space. The number of parking types can be multiple.

[0074] It should be noted that the first path search algorithm can be a search algorithm based on the Dubins curve. The second path search algorithm can also be a search algorithm based on the Dubins curve.

[0075] It should be noted that the first pose information may include first coordinate information and first orientation information. The second pose information may include second coordinate information and second orientation information.

[0076] It should be noted that part or all of the execution subject of steps 101 to 105 can be an application located in the local terminal, or can also be a functional unit such as a plug-in or software development kit (SDK) set in the application located in the local terminal, or can also be a processing engine located in the network-side server, or can also be a distributed system located on the network side. For example, the processing engine or distributed system in the network-side autonomous driving platform, etc. This embodiment does not make a special limitation on this.

[0077] It is understandable that the application can be a native app installed on a local terminal or a web app of a browser on the local terminal. This embodiment does not limit this.

[0078] In this way, by first performing a path planning based on the second pose information of the second end point corresponding to the parking type of the autonomous vehicle and the drivable area information, and then performing another path planning based on the first pose information of the first end point, the second pose information of the second end point, and the drivable area information, the first parking path and the second parking path obtained based on the two plans can be used to control the vehicle to complete the perpendicular parking action. While ensuring the accuracy of the parking path planning, it can also standardize the parking process and improve the smoothness of the parking process, thereby improving the reliability of the perpendicular parking of the autonomous vehicle.

[0079] Optionally, in a possible implementation manner of this embodiment, in step 102, first, the high-precision map information corresponding to the vehicle and the parking position information of the perpendicular parking space can be obtained. Secondly, based on the parking position information and the high-precision map information, a local coordinate system for parking can be constructed. Thirdly, based on the local coordinate system, the parking position information can be transformed to determine the second pose information of the second end point corresponding to the parking type. Thirdly, based on the second pose information of the second end point and the parking type, the first pose information of the first end point corresponding to the parking type can be determined using a geometric algorithm.

[0080] In this implementation manner, the high-precision map information can include the center line of the lane and the boundary line of the lane. The parking position information can include, but is not limited to, the center point of the parking space, the position points of each vertex angle of the parking space, the size of the parking space, and the direction of the parking space.

[0081] In a specific implementation process of this implementation manner, a local coordinate system for parking with the upper left vertex position point of the parking space as the origin under the high-precision map can be constructed based on the upper left vertex position point of the parking space and the high-precision map information.

[0082] In another specific implementation process of this implementation manner, based on the local coordinate system and the size of the parking space, the coordinate information of the center point of the parking space in the local coordinate system can be obtained. Furthermore, based on the coordinate information of the center point of the parking space in the local coordinate system, the second coordinate information of the second end point corresponding to the parking type can be obtained. Based on the direction of the parking space, the second orientation information of the second end point corresponding to the parking type can be obtained. Based on the second coordinate information and the second orientation information, the second pose information of the second end point corresponding to the parking type can be obtained.

[0083] In another specific implementation process of this implementation manner, the minimum turning radius and the lane center line of the vehicle are obtained, and then, based on the second pose information, the parking type, the minimum turning radius, and the lane center line, the first pose information of the first end point corresponding to the parking type can be calculated.

[0084] In this implementation manner, the parking type may include a first parking type, a second parking type, and a third parking type. Exemplarily, the first parking type is an L-shaped parking, the second parking type is a C-shaped parking, and the third parking type is an R-shaped parking.

[0085] In one case of this specific implementation process, for the first parking type, in the local coordinate system, based on the parking space size and the parking space direction, the abscissa of the second pose information of the second end point can be obtained as half of the parking space width, the ordinate can be obtained as half of the parking space length, and the second orientation information is 90 degrees. Based on the second pose information, the minimum turning radius, and the lane center line, it can be determined that the abscissa of the first pose information of the first end point is the same as the abscissa of the second pose information, and the ordinate is the value corresponding to the sum of the ordinate of the lane center line and the minimum turning radius of the vehicle, and the first orientation is 90 degrees.

[0086] In another case of this specific implementation process, for the second parking type, in the local coordinate system, based on the parking space size and the parking space direction, the abscissa of the second pose information of the second end point can be obtained as half of the parking space width, the ordinate can be obtained as half of the parking space length, and the second orientation information is 90 degrees. Based on the second pose information, the minimum turning radius, the lane center line, and a preset margin, it can be determined that the abscissa of the first pose information of the first end point is the value corresponding to the sum of the minimum turning radius of the vehicle and the preset margin, the ordinate can be the value corresponding to the minimum turning radius of the vehicle, and the first orientation is 0 degrees.

[0087] In yet another case of this specific implementation process, for the third parking type, in the local coordinate system, based on the parking space size and the parking space direction, the abscissa of the second end point can be obtained as half of the parking space width, the ordinate can be obtained as half of the parking space length, and the second orientation information is 90 degrees. Based on the second pose information of the second end point and the minimum turning radius of the vehicle, the position information of the center of the circle with the minimum turning radius is calculated. The abscissa of the center can be the value corresponding to the sum of the minimum turning radius of the vehicle and the abscissa of the second end point, and the ordinate of the center can be the value corresponding to the ordinate of the lane center line. Based on the position information of the center, the abscissa and ordinate of the first pose information of the first end point can be calculated, and the first orientation is 30 degrees.

[0088] Here, the distance between the parking space and the lane center line can be the ordinate of the lane center line. Preferably, the distance between the parking space and the lane center line can be 2 meters.

[0089] It can be understood that here, the second end point can be the final termination point of parking. The first end point can be an intermediate termination point during the parking process, that is, it can be the termination point of the vehicle's forward section.

[0090] In another specific implementation process of this implementation manner, first, based on the high-precision map information, the center line and boundary line of the lane in which the vehicle travels can be obtained. Secondly, based on the first pose information of the first end point, the second pose information of the second end point, the center line and boundary line of the lane, and the parking type, the driving area of the vehicle can be expanded. Thirdly, based on the result of the expansion process, the drivable area information corresponding to the parking type can be determined.

[0091] Optionally, in a possible implementation manner of this embodiment, in step 102, based on the parking type of the vehicle, the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to this parking type can be directly obtained.

[0092] In a specific implementation process of this implementation manner, before step 103, based on the parking space position information, the minimum turning radius of the vehicle, and the high-precision map information, the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to each parking type of the vehicle can be pre-calculated. When receiving the parking task information and / or entering the parking scenario, based on the parking type of the vehicle, the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to this parking type can be directly obtained.

[0093] In this way, by directly obtaining the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to the parking type of the vehicle, the speed of data processing during the parking path planning process can be improved.

[0094] It should be noted that the specific implementation processes provided in this implementation manner can be combined with the various specific implementation processes provided in the foregoing implementation manner to implement the vertical parking method of this embodiment. For detailed descriptions, reference can be made to the relevant content in the foregoing implementation manner, which will not be elaborated here.

[0095] Optionally, in a possible implementation of this embodiment, in step 103, first, the parking space identifier of the vertical parking space can be obtained. Secondly, based on the parking space identifier of the vertical parking space, the parking space position information of the vertical parking space can be obtained. Thirdly, based on a preset distance condition, the driving position information and the parking space position information, it can be determined whether the vehicle enters the parking scenario. Again, in response to the vehicle entering the parking scenario, based on the driving position information, the first pose information, the second pose information, and the drivable area information, a first parking path can be obtained by using a first path search algorithm.

[0096] In this implementation, the parking task information of the vehicle can include the parking space identifier of the vertical parking space and the parking type.

[0097] In a specific implementation process of this implementation, the parking space identifier of the vertical parking space can be obtained from the received parking task information of the vehicle.

[0098] In another specific implementation process of this implementation, the current vehicle speed can also be obtained. Based on a preset distance condition, the current driving position information of the vehicle and the parking space position information, as well as a preset speed condition and the current vehicle speed of the vehicle, it can be determined whether the vehicle enters the parking scenario.

[0099] One case of this specific implementation process is that based on the current driving position information of the vehicle and the parking space position information, the distance between the vehicle and the parking space can be calculated in real time. When the distance between the vehicle and the parking space meets the preset distance condition and the current vehicle speed of the vehicle meets the preset speed condition, it can be determined that the vehicle enters the parking scenario.

[0100] Here, the preset distance condition can be that the distance between the vehicle and the parking space is less than a preset distance threshold. The preset distance threshold can be determined according to the parking type or the parking environment. The preset speed condition can be that the vehicle speed is less than or equal to a preset speed threshold. The preset speed threshold can be determined based on the speed of the vehicle's low-speed driving mode.

[0101] In this implementation, the first path search algorithm can be a search algorithm based on the Dubins curve.

[0102] In another specific implementation process of this implementation, the drivable area information can include the boundary line and the lane center line. The lane center line can be used as the reference line for the path search algorithm to search the area near the reference line. When the distance between the vehicle and the first end point is less than twice the minimum turning radius, the Dubins curve can be used to connect from the center line to the first end point to obtain the first parking path.

[0103] In this way, when the vehicle enters the parking scenario, based on the driving position information, the first pose information, the second pose information, and the drivable area information, the first parking path can be planned by using the first path search algorithm, which reduces the time for path search optimization processing and reduces the burden of data processing.

[0104] It should be noted that the specific implementation process provided in this implementation manner can be combined with various specific implementation processes provided in the foregoing implementation manner to implement the vertical parking method of this embodiment. For a detailed description, reference can be made to the relevant content in the foregoing implementation manner, which will not be elaborated here.

[0105] Optionally, in a possible implementation manner of this embodiment, in step 105, specifically, first, the first parking path and the second parking path can be smoothed respectively. Secondly, based on the smoothed first parking path and the second parking path, a target parking path can be obtained. Thirdly, the target parking path is subjected to conversion processing to obtain a global target parking path. Thirdly, based on the global target parking path, the vehicle is controlled to drive to the vertical parking space.

[0106] In a specific implementation process of this implementation manner, the first parking path and the second parking path can be paths that have been smoothed. Then, the first parking path and the second parking path can be connected to obtain a target parking path, and the target parking path is subjected to conversion processing to obtain a global target parking path. Thirdly, based on the global target parking path, the vehicle is controlled to drive to the vertical parking space.

[0107] It can be understood that here, the target parking path can be a parking path in the local coordinate system. Therefore, the target parking path needs to be converted into a global target parking path in the global coordinate system of the vehicle.

[0108] In this way, by controlling the vehicle to drive to the parking space according to the first parking path and the second parking path, it can be achieved that only one forward route and one backward route need to be driven to complete the parking action, which improves the standardization of the parking process.

[0109] It should be noted that the specific implementation process provided in this implementation manner can be combined with various specific implementation processes provided in the foregoing implementation manner to implement the vertical parking method of this embodiment. For a detailed description, reference can be made to the relevant content in the foregoing implementation manner, which will not be elaborated here.

[0110] To better understand the method of this embodiment of the present application, the method of this embodiment of the present application will be described below in conjunction with the accompanying drawings and specific application scenarios.

[0111] Figure 2It is a schematic flowchart of a vertical parking method provided by another embodiment of the present application, as shown in Figure 2 shown.

[0112] Step 201: Obtain the parking task information, driving position information, and high-precision map information of the vehicle.

[0113] Step 202: Based on the parking task information, obtain the parking space position information and parking type of the vertical parking space.

[0114] In this embodiment, the parking task information may include the parking space ID and parking type of the vertical parking space.

[0115] Here, the parking space position information can be obtained based on the parking space ID of the vertical parking space.

[0116] Step 203: Based on the parking space position information and high-precision map information, construct a local coordinate system for parking.

[0117] Step 204: Based on the local coordinate system, perform transformation processing on the parking space position information to determine the second pose information of the second end corresponding to the parking type.

[0118] In this embodiment, the second pose information of the second end corresponding to the parking type, that is, the pose information of the center point of the parking space, can be calculated based on the parking space size information of the parking space position information.

[0119] Step 205: Based on the second pose information of the second end and the parking type, use a geometric algorithm to determine the first pose information of the first end corresponding to the parking type.

[0120] In this embodiment, the position information of the center of the circle can be calculated based on the second pose information of the second end, the parking type, and the minimum turning radius of the vehicle. Furthermore, the first pose information of the first end corresponding to the parking type can be calculated based on the second pose information, the parking type, the position information of the center of the circle, and the lane center line.

[0121] In this embodiment, the parking type may include L-shaped parking, C-shaped parking, and R-shaped parking.

[0122] Exemplarily, Figure 3 It is a schematic diagram of the positions of the first end and the second end of a parking type in the vertical parking method provided by another embodiment of the present application, as shown in Figure 3As shown, the parking type can be L-shaped parking. Point A can represent the first end point, point B can be the second end point, and point B is also the center point of the parking space. A local coordinate system can be established based on the upper left corner point of the parking space in the high-precision map. The pose information of point B can be determined based on the size information of the parking space. Based on the relative positions of point A and point B, the pose information of point A can be calculated. For example, in L-shaped parking, the length of the parking space is 3m, the width is 1.6m, the coordinates of point B are (0.8, -1.5), and the orientation is 90 degrees. The abscissa of point A can be the same as that of point B, and the ordinate of point A can be the sum of the ordinate of the lane center line and the minimum turning radius of the vehicle. The coordinates of point A are (0.8, 5), and the orientation is 90 degrees. As Figure 3 shown, where the red line represents the planned target parking path, and the vehicle can drive forward and turn to point A at a suitable position. Then, it can reverse from point A directly to point B to complete parking.

[0123] Exemplarily, Figure 4 is a schematic diagram of the positions of the first end point and the second end point of another parking type in the vertical parking method provided by another embodiment of the present application. As Figure 4 shown, the parking type can be C-shaped parking. A local coordinate system is established based on the upper left corner point of the parking space in the high-precision map. The coordinates of B are (0.8, -1.5), and the orientation is 90 degrees. Based on the relative positions of point A and point B, the pose information of point A can be calculated. The abscissa of point A can be the value corresponding to the sum of the minimum turning radius of the vehicle and a preset margin, and the ordinate of point A can be the value corresponding to the minimum turning radius of the vehicle. The coordinates of point A can be obtained as (3.8, 3), and the orientation is 0 degrees. As Figure 4 shown, where the red line represents the planned target parking path, and the vehicle can drive forward and turn to point A at a suitable position. Then, it can reverse from point A directly to point B to complete parking.

[0124] Exemplarily, Figure 5 is a schematic diagram of the positions of the first end point and the second end point of yet another parking type in the vertical parking method provided by another embodiment of the present application. As Figure 5 shown, the parking type can be R-shaped parking. A local coordinate system is established based on the upper left corner point of the parking space in the high-precision map. The coordinates of B are (0.8, -1.5), and the orientation is 90 degrees. Based on the relative positions of point A and point B, the pose information of point A can be calculated. The abscissa of the center of the circle corresponding to the minimum turning radius can be the value corresponding to the sum of the minimum turning radius of the vehicle and the abscissa of point B, and the ordinate of the center of the circle can be the value corresponding to the ordinate of the lane center line. Based on the coordinates of the center of the circle, the coordinates of point A can be calculated as (2.0, 3.5), and the orientation is 30 degrees. As Figure 5As shown, where the red line represents the planned target parking path, and the vehicle can move forward and turn to point A at a suitable position. Then, it can reverse from point A directly to point B to complete parking.

[0125] It can be understood that here, during the vehicle parking process, there are multiple paths for the vehicle to move forward from its current position to a point and then directly reverse into the parking space. To standardize the parking method, the routes from the vehicle to point A and from point A to point B can be composed of a straight line and an arc with the minimum turning radius that are tangent to each other, so there are geometric solutions for moving from the vehicle position to point A and then from point A to point B. Here, three points A of the solutions can be preset, and according to these three points, L-shaped parking, C-shaped parking, and R-shaped parking are respectively determined, and the end user can select the parking type according to actual needs.

[0126] Step 206: Based on the high-precision map information and the driving position information, obtain the center line and boundary line of the lane where the vehicle is driving.

[0127] Step 207: Based on the first pose information of the first end point, the second pose information of the second end point, the center line and boundary line of the lane, and the parking type, perform an expansion process on the driving area of the vehicle to determine the drivable area information corresponding to the parking type.

[0128] In this embodiment, the high-precision map information may include the center line and boundary line of the lane. Based on the high-precision map information and the driving position information, the center line and boundary line of the lane where the vehicle is driving can be obtained.

[0129] Here, the parking type and the drivable area information can be in one-to-one correspondence.

[0130] The drivable area information may include the boundary line of the drivable area and the center line of the lane in the drivable area.

[0131] Exemplarily, Figure 6 is a schematic diagram of the drivable area in the vertical parking method provided by another embodiment of the present application. As Figure 6 shown, in the R-shaped parking scenario, the polygon enclosed by the black solid line boundary is the drivable area information.

[0132] In this way, by determining the drivable area information corresponding to each parking type, the search area of the search algorithm can be restricted during parking path planning to prevent the search time from being too long.

[0133] Step 208: Based on the preset distance condition, the current driving position information of the vehicle, and the parking space position information, determine whether the vehicle enters the parking scenario.

[0134] In an embodiment, the preset distance condition may be that the distance between the vehicle and the parking space is less than a preset distance threshold. The preset distance threshold may be determined according to the parking type or the parking environment.

[0135] Here, based on the current driving position information of the vehicle and the parking space position information, the distance between the vehicle and the parking space can be calculated in real time.

[0136] In an embodiment, the current vehicle speed can also be obtained, and based on the preset distance condition, the current driving position information of the vehicle and the parking space position information, as well as the preset speed condition and the current vehicle speed of the vehicle, it is determined whether the vehicle enters the parking scenario.

[0137] Specifically, based on the current driving position information of the vehicle and the parking space position information, the distance between the vehicle and the parking space can be calculated in real time. When the distance between the vehicle and the parking space meets the preset distance condition and the current vehicle speed of the vehicle meets the preset speed condition, it can be determined that the vehicle enters the parking scenario.

[0138] It can be understood that the parking scenario is a low-speed driving scenario mode. If the vehicle enters the parking scenario too early, it will affect the efficiency of the overall task. If the speed is too fast during parking, it will cause a large tracking error of the vehicle and inaccurate parking. By limiting the speed of the vehicle based on the distance between the vehicle and the parking space, when the vehicle speed is less than the preset speed threshold and the distance between the vehicle and the parking space is less than the preset distance threshold, the vehicle enters the parking scenario and performs processing to search for the parking path.

[0139] Exemplarily, Figure 7 is a schematic diagram of entering the parking scenario in the vertical parking method provided by another embodiment of the present application. As Figure 7 shown, when the vehicle is too far from the parking space, the vehicle speed has nothing to do with the parking scenario. As the vehicle approaches the parking space, it starts to decelerate. When the vehicle speed is less than the preset speed threshold and the distance between the vehicle and the parking space is less than the preset distance threshold, the vehicle enters the parking scenario, starts parking, searches for the target parking path, and controls the vehicle to drive to the vertical parking space based on the target parking path.

[0140] Step 209, in response to the vehicle entering the parking scenario, based on the driving position information, the first pose information, the second pose information, and the drivable area information, use the first path search algorithm to obtain the first parking path.

[0141] In this embodiment, the first path search algorithm may be based on the Dubins curve search algorithm. The Dubins curve may be composed of mutually tangent straight lines and circles.

[0142] Exemplarily, Figure 8 is a schematic diagram of searching for the first parking path in the vertical parking method provided by another embodiment of the present application. As Figure 8As shown, the parking type can be R-type parking. The coordinates of point A are (2.0, 3.5), the orientation is 30 degrees, the coordinates of point B are (0.8, -1.5), and the orientation is 90 degrees. The red curve can be the first parking path, that is, the optimized path for the vehicle to reach point A. The drivable area information can include the boundary line and the lane center line. The vehicle may not be on the lane center line at the beginning. The lane center line can be used as the reference line for the search algorithm. The search algorithm prefers to search the area near the reference line. When the distance between the vehicle and point A is less than twice the minimum turning radius, the Dubins curve is used to connect to point A to obtain the first parking path.

[0143] Step 210, based on the first pose information, the second pose information, and the drivable area information, use the second path search algorithm to obtain the second parking path.

[0144] In this embodiment, the second path search algorithm can also be a Dubins curve search algorithm.

[0145] In this embodiment, first, the second path search algorithm can be used to search for the path from the second end point to the first end point based on the first pose information, the second pose information, and the drivable area information. Secondly, reverse the trajectory points on the path from the second end point to the first end point and increase the orientation by 180 degrees to obtain the path from the first end point to the second end point, that is, the second parking path.

[0146] It can be understood that the search process in the path search algorithm will also perform forward search in a manner that conforms to the vehicle kinematic law. The Dubins curve is also composed of tangent lines and circles. For the forward path obtained by the algorithm, to obtain the reverse path, the algorithm can be used to solve the path from point B to point A, and then reverse the points on the path and add 180 degrees to the orientation to obtain the path from point A to point B.

[0147] Exemplarily, Figure 9 is a schematic diagram of searching for the second parking path in the vertical parking method provided by another embodiment of the present application. As Figure 9 shown, the parking type can be R-type parking. The coordinates of point A are (2.0, 3.5), the orientation is 30 degrees, the coordinates of point B are (0.8, -1.5), and the orientation is 90 degrees. The red curve can be the first parking path, that is, the optimized path for the vehicle to reach point A. Use this second path search algorithm to solve the path from point B to point A, and then reverse the points on the path and add 180 degrees to the orientation to obtain the path from point A to point B, that is, the second parking path.

[0148] Step 211, based on the first parking path and the second parking path, control the vehicle to drive to the vertical parking space.

[0149] In this embodiment, the first parking path and the second parking path can be smoothed respectively. Then, based on the smoothed first parking path and second parking path, a target parking path can be obtained. The target parking path is subjected to a conversion process to obtain a global target parking path. Based on the global target parking path, the vehicle is controlled to drive into a perpendicular parking space.

[0150] Exemplarily, Figure 10 is a schematic diagram of a target parking path in a perpendicular parking method provided by another embodiment of the present application. As Figure 10 shown, the parking type can be R-type parking. The coordinates of point A are (2.0, 3.5), the orientation is 30 degrees, the coordinates of point B are (0.8, -1.5), and the orientation is 90 degrees. The red curve can be the complete parking path, that is, the target parking path. Here, these two paths are combined to obtain the total parking path, that is, the target parking path, and the target parking path can be converted into a global target parking path in the vehicle coordinate system. The vehicle can complete the operation of parking into the perpendicular parking space by following this global target parking path.

[0151] In this embodiment, Figure 11 is a schematic diagram of an application scenario of a perpendicular parking method provided by another embodiment of the present application. As Figure 11 shown, based on the target parking path, the vehicle travels a forward section and a backward section and can park into the parking space to complete the task. Compared with the traditional situation where the number of forward and backward sections for parking is uncertain, stable forward and backward sections can be achieved. After the user selects the parking method in the end scenario, the driving path of the vehicle has a certain predictability, which is more convenient for large-scale standardized deployment.

[0152] In this embodiment, a method for standardizing the parking into a perpendicular parking space applicable to autonomous driving is provided. Parking can be performed based on a high-precision map, and a geometric solution can be calculated through a geometric method in combination with the high-precision map information. The geometric solution means that starting from a point on the lane center line, a target position point, such as a first end point and a second end point, can be reached through a combination of mutually tangent straight lines and arcs with the minimum turning radius. For example, based on a forward section and a backward section of the vehicle, the first end point and the second end point are determined. After entering the parking scenario, the vehicle is not necessarily on the lane center line. The vehicle uses a search method to plan the route from the current position to the first end point, and then plans the route to reverse from the first end point into the second end point. The vehicle can complete parking by following this route. In this way, it can be achieved that only one forward route and one backward route need to be driven to complete the parking action, which can more conveniently standardize the parking process for large-scale deployment.

[0153] In addition, by adopting the technical solution in this embodiment, an algorithm for searching for a path from a starting point to an ending point can be obtained by inputting a starting directed point and an ending directed point. The input parameters of the search algorithm are the starting directed point, the ending directed point, and a reference line, and a more accurate and stable path is output, improving the reliability of the parking path.

[0154] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0155] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0156] Figure 12 The structural block diagram of a vertical parking device provided by an embodiment of the present application is shown as Figure 12 shown. The vertical parking device 1200 in this embodiment may include a first acquisition unit 1201, a first determination unit 1202, a first search unit 1203, a second search unit 1204, and a first control unit 1205. Among them, the first acquisition unit 1201 is used to acquire the current driving position information of the vehicle and the parking type of the vehicle; the first determination unit 1202 is used to determine the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to the parking type, and the second end point is located in the vertical parking space; the first search unit 1203 is used to obtain a first parking path by using a first path search algorithm based on the driving position information, the first pose information, the second pose information, and the drivable area information; the second search unit 1204 is used to obtain a second parking path by using a second path search algorithm based on the first pose information, the second pose information, and the drivable area information; the first control unit 1205 is used to control the vehicle to drive to the vertical parking space based on the first parking path and the second parking path.

[0157] It should be noted that part or all of the vertical parking device in this embodiment can be an application located on the local terminal, or can also be a functional unit such as a plug-in or software development kit (SDK) set in the application located on the local terminal, or can also be a processing engine in the network-side server, or can also be a distributed system on the network side. For example, the processing engine or distributed system in the autonomous driving platform on the network side, etc. This embodiment does not make special limitations on this.

[0158] It can be understood that the application can be a native app installed on the local terminal, or can also be a web app of a browser on the local terminal. This embodiment does not make limitations on this.

[0159] Optionally, in a possible implementation manner of this embodiment, the first determination unit 1202 is configured to obtain the high-precision map information corresponding to the vehicle and the parking space position information of the vertical parking space; based on the parking space position information and the high-precision map information, construct a local coordinate system for parking; based on the local coordinate system, perform conversion processing on the parking space position information to determine the second pose information of the second end point corresponding to the parking type; based on the second pose information of the second end point and the parking type, use a geometric algorithm to determine the first pose information of the first end point corresponding to the parking type.

[0160] Optionally, in a possible implementation manner of this embodiment, the first determination unit 1202 is configured to obtain the center line and boundary line of the lane in which the vehicle travels based on the high-precision map information and the driving position information; perform expansion processing on the driving area of the vehicle based on the first pose information of the first end point, the second pose information of the second end point, the center line and boundary line of the lane, and the parking type; based on the result of the expansion processing, determine the drivable area information corresponding to the parking type.

[0161] Optionally, in a possible implementation manner of this embodiment, the first control unit 1205 is configured to perform smoothing processing on the first parking path and the second parking path respectively; obtain a target parking path based on the smoothed first parking path and second parking path; perform conversion processing on the target parking path to obtain a global target parking path; control the vehicle to drive to the vertical parking space based on the global target parking path.

[0162] Optionally, in a possible implementation of this embodiment, the first search unit 1203 is configured to obtain a parking space identifier of a vertical parking space; obtain parking space position information of the vertical parking space based on the parking space identifier of the vertical parking space; determine whether the vehicle enters a parking scenario based on a preset distance condition, the driving position information, and the parking space position information; and in response to the vehicle entering the parking scenario, obtain a first parking path by using a first path search algorithm based on the driving position information, the first pose information, the second pose information, and the drivable area information.

[0163] In this embodiment, the current driving position information of the vehicle and the parking type of the vehicle can be obtained by the first acquisition unit. Furthermore, the first pose information of the first end point, the second pose information of the second end point, and the drivable area information corresponding to the parking type can be determined by the first determination unit. The second end point is located within the vertical parking space. The first search unit obtains a first parking path by using a first path search algorithm based on the driving position information, the first pose information, the second pose information, and the drivable area information. The second search unit obtains a second parking path by using a second path search algorithm based on the first pose information, the second pose information, and the drivable area information. As a result, the first control unit can control the vehicle to drive to the vertical parking space based on the first parking path and the second parking path. Since a path search and planning can be performed first according to the second pose information of the second end point corresponding to the parking type of the autonomous driving vehicle and the drivable area information, and then another path search and planning can be performed based on the first pose information of the first end point, the second pose information of the second end point, and the drivable area information, the first parking path and the second parking path obtained based on the two search and planning processes can be used to control the vehicle to complete the vertical parking action, which can ensure the accuracy of the parking path planning and at the same time realize the standardization of the parking process, improve the smoothness of the parking process, and thus improve the reliability of the vertical parking of the autonomous driving vehicle.

[0164] In the technical solution of this application, the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved, such as the user's images and attribute data, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0165] According to the embodiments of this application, this application further provides an electronic device, a readable storage medium, and a computer program product.

[0166] According to the embodiments of this application, further, an autonomous driving vehicle including the provided electronic device is provided. The autonomous driving vehicle may include a driverless vehicle at L2 level or above, such as an unmanned commercial vehicle, an unmanned delivery vehicle, an unmanned logistics vehicle, etc.

[0167] Figure 13 FIG. 1300 is a schematic block diagram of an exemplary electronic device 1300 that can be used to implement an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present application described and / or claimed herein.

[0168] As Figure 13 shown, the electronic device 1300 includes a computing unit 1301 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1302 or a computer program loaded from a storage unit 1308 into a random access memory (RAM) 1303. In the RAM 1303, various programs and data required for the operation of the electronic device 1300 can also be stored. The computing unit 1301, the ROM 1302, and the RAM 1303 are connected to each other via a bus 1304. An input / output (I / O) interface 1305 is also connected to the bus 1304.

[0169] A plurality of components in the electronic device 1300 are connected to the I / O interface 1305, including: an input unit 1306, such as a keyboard, a mouse, etc.; an output unit 1307, such as various types of displays, speakers, etc.; a storage unit 1308, such as a magnetic disk, an optical disk, etc.; and a communication unit 1309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1309 allows the electronic device 1300 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0170] The computing unit 1301 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1301 executes the various methods and processes described above, such as the method of perpendicular parking. For example, in some embodiments, the method of perpendicular parking can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1308. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 1300 via the ROM 1302 and / or the communication unit 1309. When the computer program is loaded into the RAM 1303 and executed by the computing unit 1301, one or more steps of the method of perpendicular parking described above can be executed. Alternatively, in other embodiments, the computing unit 1301 can be configured to execute the method of perpendicular parking by any other suitable means (e.g., by means of firmware).

[0171] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-a-chip systems (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0172] The program code for implementing the methods of this application can be written in any combination of one or more programming languages. These program codes can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0173] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0174] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0175] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0176] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is generated by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0177] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and no limitations are imposed herein.

[0178] The above specific embodiments do not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for vertical parking, characterized in that: The method comprises: Acquiring current driving position information of the vehicle and the parking type of the vehicle; Determine first posture information of a first terminal, second posture information of a second terminal, and drivable area information corresponding to the parking type, wherein the second terminal is located in a vertical parking space; Based on the driving position information, the first posture information, the second posture information and the drivable area information, a first parking path is obtained by using a first path search algorithm; Based on the first posture information, the second posture information and the drivable area information, a second parking path is obtained by using a second path search algorithm; Based on the first parking path and the second parking path, the vehicle is controlled to travel to the perpendicular parking space.

2. The method according to claim 1, characterized in that: The determining of the first posture information of the first end point and the second posture information of the second end point corresponding to the parking type includes: Obtaining high-precision map information corresponding to the vehicle and parking space position information of the vertical parking space; Constructing a local coordinate system for parking based on the parking space location information and high-precision map information; Based on the local coordinate system, the parking space position information is converted to determine second position information of a second end point corresponding to the parking type; Based on the second posture information of the second end point and the parking type, a first posture information of the first end point corresponding to the parking type is determined using a geometric algorithm.

3. The method according to claim 2, characterized in that Determining the drivable area information corresponding to the parking type includes: Based on the high-precision map information and the driving position information, obtaining the center line and boundary line of the lane in which the vehicle is traveling; Based on the first posture information of the first end point, the second posture information of the second end point, the center line and the boundary line of the lane, and the parking type, the driving area of ​​the vehicle is expanded; Based on the result of the expansion processing, the drivable area information corresponding to the parking type is determined.

4. The method according to claim 1, characterized in that: The controlling the vehicle to travel to the vertical parking space based on the first parking path and the second parking path includes: performing smoothing processing on the first parking path and the second parking path respectively; Obtaining a target parking path based on the smoothed first parking path and the second parking path; converting the target parking path to obtain a global target parking path; Based on the global target parking path, the vehicle is controlled to travel to the vertical parking space.

5. The method according to claim 1, characterized in that The method of obtaining a first parking path by using a first path search algorithm based on the driving position information, the first posture information, the second posture information and the drivable area information includes: Get the parking space identification of the vertical parking space; Based on the parking space identifier of the vertical parking space, obtaining parking space position information of the vertical parking space; Based on a preset distance condition, the driving position information and the parking space position information, determining whether the vehicle enters a parking scene; In response to the vehicle entering a parking scene, a first parking path is obtained by using a first path search algorithm based on the driving position information, the first posture information, the second posture information and the drivable area information.

6. A vertical parking device, characterized in that: The device comprises: A first acquisition unit, used to acquire current driving position information of a vehicle and a parking type of the vehicle; A first determining unit, configured to determine first posture information of a first end point, second posture information of a second end point, and drivable area information corresponding to the parking type, wherein the second end point is located in a vertical parking space; A first search unit, configured to obtain a first parking path by using a first path search algorithm based on the driving position information, the first posture information, the second posture information and the drivable area information; A second search unit, configured to obtain a second parking path by using a second path search algorithm based on the first posture information, the second posture information and the drivable area information; The first control unit is configured to control the vehicle to travel to the perpendicular parking space based on the first parking path and the second parking path.

7. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-5.

9. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

10. An autonomous driving vehicle comprising the electronic device as claimed in claim 7.

Images