Automatic parking method, device and equipment for mechanical parking space and medium

Abstract

The invention provides an automatic parking method and device for a mechanical parking space, equipment and a medium. The method comprises the steps that environment information of the environment where a vehicle is located and pose information of the vehicle are obtained; identifying a mechanical parking space in the environment according to the environment information, and generating a mechanical parking space sensing result corresponding to the mechanical parking space; parking state detection is conducted according to the mechanical parking space sensing result and the pose information, and the corresponding parking stage of the vehicle in the parking process is determined; the parking space sensing result is processed, and a parking strategy for the parking stage is generated; and controlling the vehicle to park in the corresponding target mechanical parking space according to the parking strategy. According to the embodiment of the invention, the corresponding parking strategy is formulated in real time according to the parking stage of the vehicle, the vehicle is controlled to be accurately parked in the target mechanical parking space according to the parking strategy, and accurate, safe and efficient automatic parking of the vehicle in the mechanical parking space is realized.

Description

Technical Field

[0001] The present application relates to the field of automatic parking, and particularly to an automatic parking method for a mechanical parking space, an automatic parking device for a mechanical parking space, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the development of intelligent driving technology, automatic parking has become an essential function of intelligent driving vehicles. Currently, with the increasing severity of urban traffic congestion and parking difficulties, drivers need the automatic parking function to reduce the driving burden, and the automatic parking technology can help drivers automatically complete the parking action in a narrow parking space, greatly improving the convenience and safety of parking.

[0003] However, the existing automatic parking technology is mainly designed for ordinary parking spaces. Due to the special structure of mechanical parking spaces, such as convexities on both sides and slopes in front of some parking spaces, it poses greater challenges to automatic parking. In particular, the changes in slopes and parking space heights may cause deviations during the automatic parking process of the vehicle, affecting the parking effect. Summary of the Invention

[0004] Embodiments of the present application provide an automatic parking method, device, equipment, and medium for a mechanical parking space to solve the problems of poor adaptability and poor parking effect of existing parking methods in mechanical parking spaces.

[0005] Embodiments of the present application disclose an automatic parking method for a mechanical parking space, the method comprising:

[0006] Obtaining environmental information of the environment where the vehicle is located and pose information of the vehicle;

[0007] Identifying mechanical parking spaces in the environment according to the environmental information to generate a mechanical parking space perception result corresponding to the mechanical parking spaces;

[0008] Performing a parking state detection according to the mechanical parking space perception result and the pose information to determine a corresponding parking stage of the vehicle during the parking process;

[0009] Processing the parking space perception result to generate a parking strategy for the parking stage;

[0010] Controlling the vehicle to park into a corresponding target mechanical parking space according to the parking strategy.

[0011] Optionally, the performing a parking state detection according to the mechanical parking space perception result and the pose information to determine a corresponding parking stage of the vehicle during the parking process includes:

[0012] Compare the mechanical parking space perception result with the pose information to obtain the relative position relationship between the vehicle and the mechanical parking space;

[0013] Determine the corresponding parking stage of the vehicle during the parking process according to the relative position relationship.

[0014] Optionally, the determining the corresponding parking stage of the vehicle during the parking process according to the relative position relationship includes:

[0015] If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is greater than a preset threshold, the vehicle is in the parking space searching stage;

[0016] If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is less than the preset threshold, and the distance between the center of the rear axle of the vehicle and the corresponding entrance of the mechanical parking space is greater than the preset threshold, the vehicle is in the warehousing stage;

[0017] If the distance between the center of the rear axle of the vehicle and the corresponding entrance point of the mechanical parking space is less than the preset threshold, the vehicle is in the parking stage.

[0018] Optionally, the parking stage includes a parking space searching stage, a warehousing stage and a parking stage. The processing of the parking space perception result to generate a parking strategy for the parking stage includes:

[0019] If the vehicle is in the parking space searching stage, identify the mechanical parking spaces corresponding to the vehicle and the position information of the mechanical parking spaces from the mechanical parking space perception result, and compare the position information with a preset fixed offset to obtain the optimal observed parking space for the vehicle and the position information of the optimal observed parking space;

[0020] If the vehicle is in the warehousing stage, identify the target parking space where the vehicle is located and the first position information of the target parking space from the mechanical parking space perception result;

[0021] If the vehicle is in the parking stage, identify the target parking space where the vehicle is located and the second position information of the target parking space from the mechanical parking space perception result.

[0022] Optionally, the controlling the vehicle to park into the corresponding target mechanical parking space according to the parking strategy includes:

[0023] If the vehicle is in the parking space searching stage, control the vehicle to park into the optimal observed parking space according to the position information of the optimal observed parking space;

[0024] If the vehicle is in the warehousing stage, adjust the attitude of the vehicle when parking into the target parking space according to the first position information of the target parking space;

[0025] If the vehicle is in the parking stage, adjust the relative position between the vehicle and the target parking space according to the second position information of the target parking space.

[0026] Optionally, the mechanical parking space includes a ramp parking space and a non-ramp parking space, and the position information of the optimal observation parking space at least includes the entrance height information of the optimal observation parking space. The method further includes:

[0027] If the optimal observation parking space is a ramp parking space, perform segmented regression processing on the optimal observation parking space to obtain the estimated ramp height of the optimal observation parking space, and use the estimated ramp height as the entrance height information of the optimal observation parking space;

[0028] If the optimal observation parking space is a non-ramp parking space, set the entrance height information of the optimal observation parking space to 0.

[0029] Optionally, the mechanical parking space includes a non-ramp parking space and a ramp parking space, and the position information of the mechanical parking space includes the position information of the non-ramp parking space and the position information of the ramp parking space. If the vehicle is in the parking space search stage, identify the mechanical parking space perception result to obtain multiple mechanical parking spaces corresponding to the vehicle and the position information of the multiple mechanical parking spaces, including:

[0030] For the non-ramp parking space, extract the mechanical parking space perception result to obtain the true parking space perception result corresponding to the non-ramp parking space, and calculate according to the true parking space perception result and the preset parking space depth to generate the virtual parking space perception result corresponding to the non-ramp parking space. Use the true parking space perception result and the virtual parking space perception result as the position information of the non-ramp parking space;

[0031] For the ramp parking space, extract the mechanical parking space perception result to obtain the true parking space perception result and the true ramp perception result corresponding to the ramp parking space, calculate according to the true parking space perception result and the preset parking space depth to generate the virtual parking space perception result corresponding to the ramp parking space, and calculate according to the true ramp perception result and the preset ramp width to generate the virtual ramp perception result corresponding to the ramp parking space. Use the true parking space perception result, the virtual parking space perception result, the true ramp perception result and the virtual ramp perception result as the position information of the ramp parking space.

[0032] Optionally, the target parking space is a flat parking space or a sloped parking space. If the vehicle is in the warehousing stage, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the first position information of the target parking space, including:

[0033] If the target parking space is a flat parking space, the mechanical parking space perception result is extracted to obtain the true parking space perception result corresponding to the target parking space, and calculations are performed based on the true parking space perception result and a preset parking space depth to generate a virtual parking space perception result corresponding to the target parking space. The true parking space perception result and the virtual parking space perception result are used as the first position information of the target parking space;

[0034] If the target parking space is a sloped parking space, the mechanical parking space perception result is extracted to obtain the true parking space perception result and the true slope perception result corresponding to the target parking space. Calculations are performed based on the true parking space perception result and a preset parking space depth to generate a virtual parking space perception result corresponding to the target parking space, and calculations are performed based on the true slope perception result and a preset slope width to generate a virtual slope perception result corresponding to the target parking space. The true parking space perception result, the virtual parking space perception result, the true slope perception result, and the virtual slope perception result are used as the first position information of the target parking space.

[0035] Optionally, if the vehicle is in the parking stage, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the second position information of the target parking space, including:

[0036] The mechanical parking space perception result is extracted to obtain the true parking space perception result corresponding to the target parking space;

[0037] Calculations are performed based on the true parking space perception result and a preset parking space depth to generate a virtual parking space perception result corresponding to the target parking space;

[0038] The true parking space perception result and the virtual parking space perception result are used as the second position information of the target parking space.

[0039] Optionally, if the vehicle is in the warehousing stage, the attitude of the vehicle when parking into the target parking space is adjusted according to the first position information of the target parking space, including:

[0040] Calculations are performed based on the first position information of the target parking space and the pose information of the vehicle to obtain the parking space entry point and the parking space orientation of the target parking space;

[0041] The attitude of the vehicle is adjusted according to the parking space entry point and the parking space orientation of the target parking space.

[0042] Optionally, if the vehicle is in a parking stage, adjusting the relative position of the vehicle and the target parking space according to the second position information of the target parking space includes:

[0043] Calculating according to the second position information of the target parking space and the pose information of the vehicle to obtain the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking space stop line of the vehicle;

[0044] Adjusting the relative position of the vehicle and the target parking space according to the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking space stop line of the vehicle.

[0045] The embodiment of the present application also provides an automatic parking device for a mechanical parking space, and the device includes:

[0046] A vehicle information acquisition module, configured to acquire environmental information of the environment where the vehicle is located and the pose information of the vehicle;

[0047] A mechanical parking space perception module, configured to identify the mechanical parking spaces in the environment according to the environmental information and generate a mechanical parking space perception result corresponding to the mechanical parking spaces;

[0048] A parking stage determination module, configured to perform parking state detection according to the mechanical parking space perception result and the pose information, and determine the parking stage corresponding to the vehicle during the parking process;

[0049] A parking strategy determination module, configured to process the parking space perception result and generate a parking strategy for the parking stage;

[0050] A vehicle planning and control module, configured to control the vehicle to park into the corresponding target mechanical parking space according to the parking strategy.

[0051] The embodiment of the present application also discloses an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0052] The memory is used for storing a computer program;

[0053] When the processor is configured to execute the program stored in the memory, it implements the method as described in the embodiment of the present application.

[0054] The embodiment of the present application also discloses a computer-readable storage medium, on which instructions are stored, and when executed by one or more processors, the instructions cause the processors to execute the method as described in the embodiment of the present application.

[0055] Compared with the prior art, the embodiments of the present application include the following advantages:

[0056] In the embodiments of the present application, an automatic parking method for a mechanical parking space is provided. The method includes obtaining environmental information of the environment where the vehicle is located and pose information of the vehicle; identifying mechanical parking spaces in the environment according to the environmental information to generate a mechanical parking space perception result corresponding to the mechanical parking space; detecting the parking state according to the mechanical parking space perception result and the pose information to determine the corresponding parking stage during the parking process of the vehicle; processing the parking space perception result to generate a parking strategy for the parking stage; and controlling the vehicle to park into the corresponding target mechanical parking space according to the parking strategy. The embodiments of the present application formulate corresponding parking strategies in real time according to the parking stage of the vehicle, and control the vehicle to park into the target mechanical parking space according to the parking strategy, ensuring that the vehicle can accurately park into the mechanical parking space in different environments, and realizing accurate, safe and efficient automatic parking of the vehicle in the mechanical parking space. Description of the Drawings

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0058] Figure 1 is a flowchart of the steps of an automatic parking method for a mechanical parking space provided by the embodiments of the present application;

[0059] Figure 2 is a schematic diagram of the scenario of a vehicle parking stage provided by the embodiments of the present application;

[0060] Figure 3 is a schematic diagram of the scenario of determining ramp parking space information provided by the embodiments of the present application;

[0061] Figure 4 is a schematic diagram of the scenario of determining the optimal observation parking space provided by the embodiments of the present application;

[0062] Figure 5 is a schematic diagram of the scenario of determining the entrance height of the ramp parking space provided by the embodiments of the present application;

[0063] Figure 6 is a schematic diagram of the scenario of determining the position information of the optimal observation parking space provided by the embodiments of the present application;

[0064] Figure 7 is a schematic diagram of the scenario of adjusting the vehicle attitude during the warehousing stage provided by the embodiments of the present application;

[0065] Figure 8 It is a schematic diagram of a scenario for adjusting the vehicle attitude during the parking phase provided by an embodiment of the present application;

[0066] Figure 9 It is a schematic flowchart of the parking space update management during the parking space search phase provided by an embodiment of the present application;

[0067] Figure 10 It is a schematic flowchart of the parking space update management during the warehousing phase provided by an embodiment of the present application;

[0068] Figure 11 It is a schematic flowchart of the parking space update management during the parking phase provided by an embodiment of the present application;

[0069] Figure 12 It is a structural block diagram of an automatic parking device for a mechanical parking space provided by an embodiment of the present application;

[0070] Figure 13 It is a block diagram of an electronic device provided in an embodiment of the present application;

[0071] Figure 14 It is a schematic diagram of a computer-readable storage medium provided in an embodiment of the present application. Detailed implementation manners

[0072] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. 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 of the present application without making creative efforts shall fall within the protection scope of the present application.

[0073] As an example, with the development of intelligent driving technology, automatic parking has become one of the essential functions of intelligent driving vehicles. With the increasing severity of current urban traffic congestion and parking difficulties, drivers need the automatic parking function to reduce the driving burden, and the automatic parking technology can help drivers automatically complete the parking action in a narrow parking space, greatly improving the convenience and safety of parking.

[0074] However, the existing automatic parking technology is mainly designed for ordinary parking spaces. Due to the special structure of mechanical parking spaces, such as convexities on both sides and slopes in front of some parking spaces, it brings greater challenges to automatic parking. In particular, the changes in slopes and parking space heights may cause deviations in the vehicle during the automatic parking process, affecting the parking effect.

[0075] In this regard, the advantages of the present application compared with the prior art are as follows: by obtaining the environmental information of the vehicle's location and the pose information of the vehicle; identifying the mechanical parking spaces in the environment according to the environmental information to generate the mechanical parking space perception results corresponding to the mechanical parking spaces; detecting the parking state according to the mechanical parking space perception results and the pose information to determine the corresponding parking stage during the vehicle parking process; processing the parking space perception results to generate a parking strategy for the parking stage; and controlling the vehicle to park in the corresponding target mechanical parking space according to the parking strategy. In the embodiments of the present application, a corresponding parking strategy is formulated in real time according to the parking stage of the vehicle, and the vehicle is controlled to park in the target mechanical parking space according to the parking strategy, ensuring that the vehicle can accurately park in the mechanical parking space in different environments, and realizing accurate, safe and efficient automatic parking of the vehicle in the mechanical parking space.

[0076] Referring to Figure 1 , a flowchart of the steps of an automatic parking method for a mechanical parking space provided in an embodiment of the present application is shown, which may specifically include the following steps:

[0077] Step 101, obtain the environmental information of the vehicle's location and the pose information of the vehicle;

[0078] In the embodiments of the present application, during the vehicle parking process, first, obtain the environmental information around the vehicle, such as the positions of mechanical parking spaces, obstacles, etc. around the vehicle, and the real-time pose information of the vehicle, such as the vehicle position, vehicle orientation, etc. The embodiments of the present application provide comprehensive data for subsequent mechanical parking space identification and parking strategy formulation through the environmental information and pose information of the vehicle's location.

[0079] As an example, the environmental information of the vehicle's location and the pose information of the vehicle can be obtained through sensors. For example, environmental images are collected based on the fish-eye camera equipped on the vehicle, and the position information of the vehicle and the vehicle's own attitude information are determined through GPS (Global Positioning System) and IMU (Inertial Measurement Unit).

[0080] Step 102, identify the mechanical parking spaces in the environment according to the environmental information to generate the mechanical parking space perception results corresponding to the mechanical parking spaces;

[0081] In the embodiments of the present application, after obtaining the environmental information and vehicle pose information of the vehicle, the mechanical parking space in the environment where the vehicle is located is identified according to the environmental information, and the specific position and characteristics of the mechanical parking space are determined, such as parking space information such as the position, size, and type of the parking space, and a mechanical parking space perception result is generated to ensure the real-time nature of the mechanical parking space perception result. The embodiments of the present application generate an accurate mechanical parking space perception result through the real-time environmental information of the vehicle, providing data support for subsequent parking stage judgment and parking strategy formulation.

[0082] As an example, a parking space line vision detection technology can be used to analyze the environmental image around the vehicle, identify the position and shape of the parking space line, and thus generate a mechanical parking space perception result. Specifically, the environmental image around the vehicle is collected through an on-vehicle camera such as a fish-eye camera. The environmental image includes information such as parking space lines, parking space boundaries, and obstacles. Further, the position and shape of the parking space lines are detected through a deep learning model, and the type of the parking space (such as a slope parking space or a non-slope parking space) is judged according to the shape of the parking space line. Finally, a mechanical parking space perception result including information such as the parking space position, size, type, and parking space entrance point is generated.

[0083] Step 103: Perform a parking state detection according to the mechanical parking space perception result and the pose information, and determine the corresponding parking stage of the vehicle during the parking process;

[0084] In the embodiments of the present application, the parking state of the vehicle is detected in real time through the mechanical parking space perception result and the vehicle pose information, and the current parking stage of the vehicle is determined. For example, the vehicle is in the stage of searching for a parking space, the vehicle is in the stage of entering the selected target parking space, or the vehicle is in the stage of adjusting the vehicle parking position. Further, corresponding parking strategies can be provided according to the parking stage of the vehicle, and then corresponding controls can be executed. The embodiments of the present application more efficiently formulate corresponding parking strategies by clearly dividing the parking stages of the vehicle.

[0085] In a preferred embodiment of the present application, the performing a parking state detection according to the mechanical parking space perception result and the pose information, and determining the corresponding parking stage of the vehicle during the parking process includes:

[0086] Compare the mechanical parking space perception result and the pose information to obtain the relative position relationship between the vehicle and the mechanical parking space;

[0087] Determine the corresponding parking stage of the vehicle during the parking process according to the relative position relationship.

[0088] In the embodiments of the present application, during the process of detecting the parking state of a vehicle, the parking stage of the vehicle is accurately determined through the relative position relationship between the vehicle and the mechanical parking space. Specifically, by comparing the perception result of the mechanical parking space and the pose information of the vehicle, the relative position relationship between the vehicle and the mechanical parking space can be determined, such as the relative distance between the vehicle and the mechanical parking space, and the orientation of the vehicle relative to the mechanical parking space. Further, the parking stage of the vehicle is determined according to the relative position relationship between the vehicle and the mechanical parking space. For example, when the vehicle is parallel to the mechanical parking space, it is in the stage of searching for a parking space; when the front or rear edge of the vehicle approaches the mechanical parking space, it is in the stage of entering the warehouse; when the vehicle has partially or fully entered the mechanical parking space, it is in the parking stage. In the embodiments of the present application, the parking stage of the vehicle is accurately judged through the relative position relationship between the vehicle and the mechanical parking space.

[0089] In a preferred embodiment of the present application, the determining the corresponding parking stage of the vehicle during parking according to the relative position relationship includes:

[0090] If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is greater than a preset threshold, the vehicle is in the stage of searching for a parking space;

[0091] If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is less than the preset threshold, and the distance between the center of the rear axle of the vehicle and the corresponding entrance of the mechanical parking space is greater than the preset threshold, the vehicle is in the stage of entering the warehouse;

[0092] If the distance between the center of the rear axle of the vehicle and the corresponding entrance point of the mechanical parking space is less than the preset threshold, the vehicle is in the parking stage.

[0093] In the embodiments of the present application, the parking stage of the vehicle is accurately judged by the distances between the rear edge of the vehicle and the center of the rear axle and the entrance point of the mechanical parking space in combination with the preset threshold, and is specifically divided into the stage where the vehicle is searching for a parking space, the stage where the vehicle is entering the warehouse, and the stage where the vehicle is parking.

[0094] As an example, referring to Figure 2 FIG. shows a schematic diagram of a scenario of a vehicle parking stage provided by an embodiment of the present application. In the specific implementation process, when the distance between the rear edge of the vehicle and the entrance point of the parking space is greater than the preset threshold, that is, the vehicle is not close to a specific mechanical parking space, it is determined that the vehicle is in the stage of searching for a parking space (such as Figure 2 a), when the distance between the rear edge of the vehicle and the entrance point of the parking space is less than the preset threshold, and the distance between the center of the rear axle of the vehicle and the entrance point of the parking space is greater than the preset threshold, that is, the vehicle has approached the mechanical parking space and is ready to enter the warehouse, it is determined that the vehicle is in the stage of parking and entering the warehouse (such as Figure 2 b), when the distance between the center of the rear axle of the vehicle and the entrance point of the parking space is less than the preset threshold, that is, the vehicle has partially or fully entered the mechanical parking space, it is determined that the vehicle is in the parking stage (such as Figure 2c). The preset threshold can be set to 0 or 0.5 m, etc., and can be set in combination with the size of the vehicle or mechanical parking space. This application does not make specific limitations on this.

[0095] Step 104: Process the parking space perception result to generate a parking strategy for the parking stage.

[0096] In the embodiment of this application, after determining the parking stage of the vehicle, a parking strategy for the parking stage is generated according to the parking space perception result. For example, a path planning strategy for the target mechanical parking space is provided when the vehicle is searching for a parking space, an in-storage point adjustment strategy is provided during the in-storage stage, and a vehicle position adjustment strategy is provided during the parking stage. The embodiment of this application generates and adjusts the parking strategy in real time for different parking stages of the vehicle to ensure that the vehicle is accurately parked in the target mechanical parking space.

[0097] In a preferred embodiment of this application, the parking stage includes a parking space search stage, an in-storage stage, and a parking stage. The processing of the parking space perception result to generate a parking strategy for the parking stage includes:

[0098] If the vehicle is in the parking space search stage, identify the mechanical parking space perception result to obtain multiple mechanical parking spaces corresponding to the vehicle and the position information of the mechanical parking spaces, and compare the position information with a preset fixed offset to obtain the optimal observation parking space for the vehicle and the position information of the optimal observation parking space.

[0099] If the vehicle is in the in-storage stage, identify the mechanical parking space perception result to obtain the target parking space where the vehicle is located and the first position information of the target parking space.

[0100] If the vehicle is in the parking stage, identify the mechanical parking space perception result to obtain the target parking space where the vehicle is located and the second position information of the target parking space.

[0101] In the embodiment of this application, a parking strategy for different parking stages is generated according to the mechanical parking space perception result. Specifically:

[0102] When the vehicle is in the parking space search stage, identify the mechanical parking space perception result to obtain multiple mechanical parking spaces around the vehicle and their position information, and further compare the position information of each mechanical parking space with a preset fixed offset to determine the optimal observation parking space and its position information.

[0103] In the specific implementation process, if the mechanical parking space is a non-sloped parking space, the four corner points (P1, P2, P3, P4) of the mechanical parking space are detected according to the mechanical parking space perception result and used as the true parking space perception result R{P1, P2, P3, P4}. Then, based on the true parking space perception result and the preset fixed depth of the parking space, the virtual parking space perception result R'{P1, P2, P3', P4'} is calculated, and the true parking space perception result and the corresponding virtual parking space perception result are used as the position information of the non-sloped parking space;

[0104] If the mechanical parking space is a sloped parking space, the four corner points of the mechanical parking space are obtained as the true parking space perception result according to the mechanical parking space perception result. Then, the virtual parking space perception result is determined in combination with the preset fixed depth of the parking space. At the same time, the four corner points (S1, S2, S3, S4) of the slope of the mechanical parking space are obtained as the true slope perception result. According to the true slope perception result and the preset slope width, the virtual slope perception result is calculated. Refer to Figure 3 , as an example: the preset slope width is 40 cm, S3' = P2, S4' = P1, and S1' and S2' are calculated based on S3'S4': S1' is 40 cm from S4' along the perpendicular line of S3'S4', and S2' is 40 cm from S3' along the perpendicular line of S3'S4', obtaining the virtual slope perception result (S1', S2', S3', S4'). Finally, the true parking space perception result, the virtual parking space perception result, the true slope perception result, and the virtual slope perception result are used as the position information of the sloped parking space.

[0105] Furthermore, the position information of multiple mechanical parking spaces is compared with the preset fixed offset parameters respectively to determine whether the mechanical parking space is the optimal observation parking space. Refer to Figure 4 , where P1, P2, P3, and P4 are the four corner points of the mechanical parking space respectively, C1 is the installation position of the vehicle's left surround camera, the origin of the vehicle coordinate system is at the center of the rear axle of the vehicle, and the XY-axis directions are the vehicle's due front and due right respectively. Define the fixed offset coefficient Xoffset = 0.5 m, which is used to define the lateral range of the parking space; Yoffset1 = 0.3 m, which is used to define the minimum longitudinal range of the parking space; Yoffset2 = 2.0 m, which is used to define the maximum longitudinal range of the parking space. If the lateral condition indicating that the installation position of the vehicle's left surround camera is within the lateral range of the parking space is satisfied: P2.x - Xoffset <= C1.x <= P1.x + Xoffset, and the longitudinal condition indicating that the installation position of the vehicle's left surround camera is within the longitudinal range of the parking space is (P1.y + P2.y) / 2 + Yoffset1 <= C1.y <= (P1.y + P2.y) / 2 + Yoffset2, then the mechanical parking space is the optimal observation parking space. For example Figure 4The parking space 2 in [the reference] meets the horizontal and vertical conditions, so it is the optimal observation parking space; other parking spaces do not meet the conditions, so they are not the optimal observation parking spaces. The fixed offset coefficient can be set by considering factors such as vehicle size and parking space size, and this application does not limit this.

[0106] Moreover, the position information of the optimal observation parking space includes the position information of the optimal observation parking space and the entrance height information of the parking space. Regarding the entrance height information of the parking space, if the optimal observation parking space is a non-sloped parking space, the entrance height information of the optimal observation parking space is directly set to 0; if the optimal observation parking space is a sloped parking space, the entrance height of the sloped parking space is estimated according to the piecewise regression principle to determine the entrance height information of the optimal observation parking space; specifically, referring to Figure 5 , for the sloped parking space, it can be calculated based on the angle change of the polygon frame projected by multiple frames of sloped surfaces (S1, S2, S3, S4) at different positions in IPM (Inverse Perspective Mapping). For the slope of the same parking space, select the slope detection results under T1, T2, and T3 observations. At the T1 observation moment, when the included angle abs(S2S3S4 - 90 degrees) <= 1.5 degrees, it is considered that this moment is the best observation moment of the S2S3 side of the slope, and the global coordinates of S2 and S3 are obtained; at the T2 observation moment, when the absolute value of the difference between the two included angles abs(S1S4S3 - S2S3S4) <= 1.5 degrees, this moment is the best central observation moment of the slope, and the angle of the best observed slope is obtained as the average value of the two included angles, which is used as the height projection distortion angle: (S1S4S3 + S2S3S4) / 2, and the global coordinates of S1, S2, S3, and S4 are obtained; at the T3 observation moment, when the included angle abs(S1S4S3 - 90 degrees) <= 1.5 degrees, it is considered that this moment is the best observation moment of the S1S2 side of the slope, and the global coordinates of S1 and S4 are obtained; furthermore, after obtaining the information at the above T1, T2, and T3 moments, obtain the height projection offset caused by the height of S3S4 at the T2 moment: {length(S3S4 at the T2 moment) - length(S3T3 moment S4 at the T1 moment)} / 2; according to the height calculation formula: height projection distortion angle * height projection offset, determine the height calculation value of the slope S3S4 as the entrance height of the sloped parking space.

[0107] Regarding the position information of the optimal observation parking space, referring to Figure 6, update the position information of the optimal observation parking space. When P2.x - 20cm <= C1.x <= P2.x + 20cm and the absolute value of the angle between P1P2 and the X-axis is less than 3 degrees, it is the T1 moment, which is the best observation moment for the mechanical parking space P2P3. Record the global coordinates P2 and P3 of the best observation of the mechanical parking space P2P3. When (P1.x + P2.x) / 2 - 20cm <= C2.x <= (P1.x + P2.x) / 2 + 20cm and the absolute value of the angle between P1P2 and the X-axis is less than 3 degrees, it is the T2 moment, which is the best observation moment for the whole mechanical parking space. Record the global coordinates P1, P2, P3, and P4. When P1.x - 20cm <= C1.x <= P1.x + 20cm and the absolute value of the angle between P1P2 and the X-axis is less than 3 degrees, it is the T3 moment, which is the best observation moment for the mechanical parking space P1P4. Record the global coordinates P1 and P4 of the best observation of the mechanical parking space P2P3. Record the four corner points of the optimal observation parking space detection result: VP1{x,y} = {P1.x at T3 moment, P1.y at T2 moment}, VP2{x,y} = {P1.x at T1 moment, P2.y at T2 moment}, VP3{x,y} = {P1.x at T1 moment, P2.y at T2 moment}, VP4{x,y} = {P1.x at T3 moment, P2.y at T2 moment}. Output VP1{VP1, VP2, VP3, VP4} as the position information of the optimal observation parking space. Among them, 20cm is the distance interval set for different observation moments.

[0108] Optionally, after obtaining multiple mechanical parking space information and optimal observation parking space information during the parking space search phase, perform visual display, such as visual display through the in-vehicle screen. The user can select a target mechanical parking space information from multiple mechanical parking space information through interactive operations, and then automatically control the vehicle to drive into the target mechanical parking space selected by the user in response to the user's selection operation, or further provide a parking space recommendation result of the optimal observation parking space information, and then automatically control the vehicle to drive into the optimal observation parking space in response to the user's confirmation operation.

[0109] When the vehicle is in the warehousing stage, identify the perception result of the mechanical parking space to obtain the current target parking space of the vehicle and its position information.

[0110] Specifically, when the vehicle is in the warehousing stage, the target parking space where the vehicle is located may be a non-sloped parking space or a sloped parking space. If the target parking space is a non-sloped parking space, the true perception result of the target parking space is obtained according to the mechanical parking space perception result. Then, the corresponding virtual perception result of the parking space is calculated based on the preset parking space depth and the true perception result of the parking space. The virtual perception result of the parking space and the true perception result of the parking space are used as the position information of the target parking space. If the target parking space is a sloped parking space, the true perception result of the parking space and the true perception result of the slope are obtained according to the mechanical parking space perception result. Then, the virtual perception result of the parking space and the virtual perception result of the slope are determined by combining the preset fixed depth of the parking space and the width of the slope. Finally, the true perception result of the parking space, the virtual perception result of the parking space, the true perception result of the slope, and the virtual perception result of the slope are used as the position information of the target parking space.

[0111] When the vehicle is in the parking stage, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is currently located and its position information.

[0112] Specifically, when the vehicle is in the parking stage, the target parking space where the vehicle is located may be a non-sloped parking space or a sloped parking space. When the vehicle is in the parking stage, it means that the vehicle has been parked on the slope. Therefore, there is no need to consider the slope. The virtual perception result of the parking space and the true perception result of the parking space are directly obtained as the position information of the target parking space according to the mechanical parking space perception result and the preset parking space depth.

[0113] In addition, after obtaining the position information of the mechanical parking space, the position information of the mechanical parking space can be further globally tracked according to the position information of the vehicle. The position information of the mechanical parking space is converted into a global coordinate system to more accurately determine the position of the mechanical parking space. Specifically, the global tracking algorithm can be used according to the position information of the vehicle to globally track the virtual perception result of the parking space in the position information of the mechanical parking space, and then update the globally tracked virtual perception result of the parking space into the position information of the mechanical parking space. In the embodiment of the present application, the position information of the parking space and the vehicle positioning information are fused through the global tracking algorithm, so that the position of the mechanical parking space can be determined more accurately, and the occupancy status of the parking space can be sensed in real time through the global tracking algorithm.

[0114] Step 105: Control the vehicle to park into the corresponding target mechanical parking space according to the parking strategy.

[0115] In the embodiments of the present application, after determining the parking strategy for the vehicle, the vehicle is controlled according to the parking strategy to complete the specific parking operation, so as to ensure that the vehicle is accurately and safely parked in the target mechanical parking space. Specifically, a control instruction for the vehicle is generated according to the parking strategy, and the vehicle is parked in the target mechanical parking space according to the planned path and actions through the control instruction. By executing the parking strategy, the embodiments of the present application accurately control the vehicle to be parked in the target mechanical parking space, improving the accuracy, safety and efficiency of automatic parking.

[0116] In a preferred embodiment of the present application, controlling the vehicle to park in the corresponding target mechanical parking space according to the parking strategy includes:

[0117] If the vehicle is in the stage of searching for a parking space, the vehicle is controlled to park in the optimal observed parking space according to the position information of the optimal observed parking space;

[0118] If the vehicle is in the warehousing stage, the attitude of the vehicle for parking in the target parking space is adjusted according to the first position information of the target parking space;

[0119] If the vehicle is in the parking stage, the relative position between the vehicle and the target parking space is adjusted according to the second position information of the target parking space.

[0120] In the embodiments of the present application, when the vehicle is searching for a parking space, information on multiple mechanical parking spaces around the vehicle is obtained, and then the optimal observed parking space is selected from the multiple mechanical parking spaces, and finally the vehicle is automatically controlled to drive into the optimal observed parking space; when the vehicle needs to enter the parking space in the optimal attitude during the warehousing stage, the position information of the target parking space where the vehicle is located is obtained, and the warehousing attitude of the vehicle is adjusted through the position information of the target parking space; when the vehicle only needs to finely adjust its position during the parking stage, the position information of the target parking space where the vehicle is located is obtained, and the relative position between the vehicle and the mechanical vehicle is adjusted according to the position information of the target parking space.

[0121] Further, when the vehicle is in the warehousing stage, the warehousing point and orientation of the parking space are calculated according to the position information of the target parking space where the vehicle is located and the pose information of the vehicle, and the attitude of the vehicle is adjusted according to the warehousing point and orientation of the parking space to ensure that the vehicle is parked in the target parking space in the best attitude.

[0122] Specifically, referring to Figure 7The figure shows a schematic diagram of a scenario for adjusting the vehicle attitude during the warehousing stage. For the case where the target parking space is a flat parking space, points P1 and P2 are the entrance points of the parking space. Taking the center of the rear axle of the vehicle as the vehicle coordinate system, the angle between the perpendicular bisector of points P1 and P2 and the x-axis of the vehicle coordinate system is the parking space orientation. Then, P1 and P2 are updated as the warehousing points of the parking space, and the angle between the perpendicular bisector of points P1 and P2 and the x-axis of the vehicle coordinate system is the parking space orientation. For the case where the target parking space is a sloped parking space, points S1 and S2 on the slope are the entrance points of the parking space, and the angle between the perpendicular bisector of points S1 and S2 and the x-axis of the vehicle coordinate system is the parking space orientation angle. Then, points S1 and S2 are updated as the warehousing points of the parking space, and the angle between the perpendicular bisector of points S1 and S2 and the x-axis of the vehicle coordinate system is the parking space orientation. In the embodiments of the present application, the warehousing points and the warehousing orientation of the parking space are accurately determined through the entrance points of the parking space and the angle between the perpendicular bisector and the X-axis of the vehicle's own coordinate system, ensuring that the vehicle enters the parking space in the best attitude.

[0123] When the vehicle is in the parking stage, the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking space stop line of the vehicle are calculated based on the current position information of the target parking space and the pose information of the vehicle. The relative position of the vehicle and the target parking space is adjusted according to the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking space stop line of the vehicle, ensuring that the vehicle is completely parked in the target parking space and preventing the vehicle from exceeding the parking space boundary or not being fully parked.

[0124] Specifically, refer to Figure 8The figure shows a schematic diagram of a scenario for adjusting the vehicle attitude during the parking phase. In the specific implementation process, for the orientation angle of the vehicle relative to the target parking space, calculate the angle between the extension line from the corner point P4 to P1 of the target parking space and the X-axis, and the angle between the extension line from the corner point P3 to P2 of the target parking space and the X-axis. Take the average value of the two angles as the orientation angle of the vehicle relative to the target parking space to ensure that the vehicle orientation is aligned with the parking space orientation and avoid the vehicle parking obliquely into the target parking space. For the offset of the vehicle relative to the target parking space, the offset is divided into lateral offset 1: (the distance from the center of the rear axle of the vehicle to the perpendicular line of the P1P4 side - the distance from the center of the rear axle of the vehicle to the perpendicular line of the P2P3 side) / 2, lateral offset 2: (the distance from the center of the front axle of the vehicle to the perpendicular line of the P1P4 side - the distance from the center of the front axle of the vehicle to the perpendicular line of the P2P3 side) / 2, longitudinal offset 1: the perpendicular distance from the front edge of the vehicle to the P1P2 side, and longitudinal offset 2: the perpendicular distance from the rear edge of the vehicle to the P3P4 side. The lateral offset is used to adjust the lateral position of the vehicle relative to the center line of the target parking space to ensure that the vehicle parks in the center of the target parking space. The longitudinal offset is used to adjust the position of the vehicle relative to the front and rear boundaries of the target parking space to ensure that the vehicle parks completely in the target parking space. For the parking stop line of the vehicle, set a fixed value as the distance from the rear tire of the vehicle to the rear edge of the vehicle. Then, the vehicle stop line is set by translating the P3P4 line segment in the direction of P1P2 by the fixed value. By setting the fixed value, ensure that the rear tire of the vehicle is close to the rear boundary of the target parking space, avoid the vehicle exceeding the parking space limit, and ensure that the depth of the vehicle parked in the target parking space is consistent.

[0125] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the following provides an exemplary illustration through corresponding examples:

[0126] Refer to Figure 9, which shows the schematic flow chart of parking space update management in the parking space search stage provided by the embodiments of the present application. In the specific implementation process, the mechanical parking space perception result for the vehicle is obtained. If the mechanical parking space perception result indicates that the vehicle is in the parking space search stage, the position information of multiple mechanical parking spaces around the vehicle is obtained according to the mechanical parking space perception result. The mechanical parking spaces are processed according to whether they are slope-free parking spaces or slope parking spaces. Then, after obtaining the position information of multiple mechanical parking spaces, the position information of multiple mechanical parking spaces is globally tracked according to the vehicle's positioning information to convert the position information of the mechanical parking space into the global coordinate system, and the globally tracked mechanical parking space position information, that is, the global parking space tracking result, is sent to the HMI (Human-Machine Interface) for visual display. Furthermore, after obtaining the position information of multiple mechanical parking spaces, the mechanical parking space that is an empty parking space and the optimal observation parking space is selected from multiple mechanical parking spaces as the recommended optimal parking space. Further, if the optimal parking space is a slope parking space, the entrance height is estimated to calculate the entrance height information. If the optimal parking space is a slope-free parking space, the entrance height information is directly set to 0. Finally, the optimal parking space recommendation result including the position information of the optimal parking space and the entrance height information is output to the HMI for visual display, and at the same time, the vehicle is controlled to park in the optimal parking space.

[0127] Refer to Figure 10 , which shows the schematic flow chart of parking space update management in the warehousing stage provided by the embodiments of the present application. In the specific implementation process, the mechanical parking space perception result for the vehicle is obtained. If the mechanical parking space perception result indicates that the vehicle is in the warehousing stage, the position information of the target parking space where the vehicle is located is obtained according to the mechanical parking space perception result. Furthermore, the position information of the target parking space is globally tracked according to the vehicle positioning information, and the globally tracked position information of the target parking space is output to the HMI for visual display. At the same time, the warehousing point and the parking space orientation of the target parking space are updated and corrected according to the globally tracked position information of the target parking space. Furthermore, the warehousing posture of the vehicle is adjusted according to the warehousing point and the parking space orientation to ensure that the vehicle parks in the target parking space with the optimal posture.

[0128] Refer to Figure 11, which shows the schematic flow chart of the parking space update management in the parking stage provided by the embodiments of the present application. In the specific implementation process, the mechanical parking space perception result for the vehicle is obtained. If the mechanical parking space perception result indicates that the vehicle is in the parking stage, the position information of the target parking space where the vehicle is located is obtained according to the mechanical parking space perception result. Then, the position information of the target parking space is globally tracked according to the vehicle positioning information, and the position information of the globally tracked target parking space is output to the HMI for visual display. At the same time, the position information of the target parking space is updated according to the position information of the globally tracked target parking space. Furthermore, according to the updated position information of the target parking space, the relative position between the vehicle and the target parking space is adjusted to ensure that the vehicle is accurately parked in the target parking space.

[0129] It should be noted that for the 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 the embodiments of the present application are not limited by the described action sequence, because according to the embodiments of the present application, some 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 involved are not necessarily essential for the embodiments of the present application.

[0130] Referring to Figure 12 , which shows the structural block diagram of an automatic parking device for a mechanical parking space provided by the embodiments of the present application. The device includes:

[0131] A vehicle information acquisition module 1201, configured to acquire the environmental information of the environment where the vehicle is located and the pose information of the vehicle;

[0132] A mechanical parking space perception module 1202, configured to identify the mechanical parking spaces in the environment according to the environmental information, and generate a mechanical parking space perception result corresponding to the mechanical parking spaces;

[0133] A parking stage determination module 1203, configured to perform parking state detection according to the mechanical parking space perception result and the pose information, and determine the parking stage corresponding to the vehicle during parking;

[0134] A parking strategy determination module 1204, configured to process the parking space perception result and generate a parking strategy for the parking stage;

[0135] A vehicle planning and control module 1205, configured to control the vehicle to park into the corresponding target mechanical parking space according to the parking strategy.

[0136] In an embodiment of the present application, the parking stage determination module 1203 includes:

[0137] A relative position relationship determination sub-module, configured to compare the mechanical parking space perception result and the pose information to obtain the relative position relationship between the vehicle and the mechanical parking space;

[0138] A parking stage determination sub-module, configured to determine the corresponding parking stage of the vehicle during the parking process according to the relative position relationship.

[0139] In an embodiment of the present application, the parking stage determination sub-module is specifically configured to:

[0140] If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is greater than a preset threshold, the vehicle is in the parking space searching stage;

[0141] If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is less than a preset threshold, and the distance between the center of the rear axle of the vehicle and the corresponding entrance of the mechanical parking space is greater than a preset threshold, the vehicle is in the warehousing stage;

[0142] If the distance between the center of the rear axle of the vehicle and the corresponding entrance point of the mechanical parking space is less than a preset threshold, the vehicle is in the parking stage.

[0143] In an embodiment of the present application, the parking stage includes a parking space searching stage, a warehousing stage, and a parking stage. The parking strategy determination module 1204 includes:

[0144] A parking space information acquisition sub-module, configured to, if the vehicle is in the parking space searching stage, identify the mechanical parking space perception result to obtain a plurality of mechanical parking spaces corresponding to the vehicle and the position information of the mechanical parking spaces, and compare the position information with a preset fixed offset amount to obtain the optimal observed parking space of the vehicle and the position information of the optimal observed parking space;

[0145] A warehousing information acquisition sub-module, configured to, if the vehicle is in the warehousing stage, identify the mechanical parking space perception result to obtain the target parking space where the vehicle is located and the first position information of the target parking space;

[0146] A parking information acquisition sub-module, configured to, if the vehicle is in the parking stage, identify the mechanical parking space perception result to obtain the target parking space where the vehicle is located and the second position information of the target parking space.

[0147] In an embodiment of the present application, the vehicle planning and control module 1205 includes:

[0148] A search control sub-module, configured to, if the vehicle is in the parking space searching stage, control the vehicle to park in the optimal observed parking space according to the position information of the optimal observed parking space;

[0149] The warehousing control sub-module is used to adjust the attitude of the vehicle when it is parked in the target parking space according to the first position information of the target parking space if the vehicle is in the warehousing stage;

[0150] The parking control sub-module is used to adjust the relative position between the vehicle and the target parking space according to the second position information of the target parking space if the vehicle is in the parking stage.

[0151] In an embodiment of the present application, the mechanical parking space includes a ramp parking space and a non-ramp parking space, the position information of the optimal observation parking space at least includes the entrance height information of the optimal observation parking space, and the parking space information acquisition sub-module further includes:

[0152] The entrance height calculation unit is used to perform segmented regression processing on the optimal observation parking space if the optimal observation parking space is a ramp parking space, obtain the estimated ramp height of the optimal observation parking space, and use the estimated ramp height as the entrance height information of the optimal observation parking space; if the optimal observation parking space is a non-ramp parking space, set the entrance height information of the optimal observation parking space to 0.

[0153] In an embodiment of the present application, the mechanical parking space includes a non-ramp parking space and a ramp parking space, the position information of the mechanical parking space includes the position information of the non-ramp parking space and the position information of the ramp parking space, and the parking space information acquisition sub-module includes:

[0154] The ramp parking space calculation unit is used to extract the perception result of the mechanical parking space for the non-ramp parking space, obtain the true perception result of the parking space corresponding to the non-ramp parking space, and calculate according to the true perception result of the parking space and the preset parking space depth to generate the virtual perception result of the parking space corresponding to the non-ramp parking space, and use the true perception result of the parking space and the virtual perception result of the parking space as the position information of the non-ramp parking space;

[0155] The non-ramp parking space calculation unit is used to extract the perception result of the mechanical parking space for the ramp parking space, obtain the true perception result of the parking space corresponding to the ramp parking space and the true ramp perception result, and calculate according to the true perception result of the parking space and the preset parking space depth to generate the virtual perception result of the parking space corresponding to the ramp parking space, and calculate according to the true ramp perception result and the preset ramp width to generate the virtual ramp perception result corresponding to the ramp parking space, and use the true perception result of the parking space, the virtual perception result of the parking space, the true ramp perception result and the virtual ramp perception result as the position information of the ramp parking space.

[0156] In an embodiment of the present application, the target parking space is a non-ramp parking space or a ramp parking space, and the warehousing information acquisition sub-module is specifically used for:

[0157] If the target parking space is a flat parking space, extract the mechanical parking space perception result to obtain the true parking space perception result corresponding to the target parking space, and calculate according to the true parking space perception result and the preset parking space depth to generate the virtual parking space perception result corresponding to the target parking space. Use the true parking space perception result and the virtual parking space perception result as the first position information of the target parking space;

[0158] If the target parking space is a sloped parking space, extract the mechanical parking space perception result to obtain the true parking space perception result and the true slope perception result corresponding to the target parking space, calculate according to the true parking space perception result and the preset parking space depth to generate the virtual parking space perception result corresponding to the target parking space, and calculate according to the true slope perception result and the preset slope width to generate the virtual slope perception result corresponding to the target parking space. Use the true parking space perception result, the virtual parking space perception result, the true slope perception result and the virtual slope perception result as the first position information of the target parking space.

[0159] In an embodiment of the present application, the parking information acquisition sub-module is specifically configured to:

[0160] Extract the mechanical parking space perception result to obtain the true parking space perception result corresponding to the target parking space;

[0161] Calculate according to the true parking space perception result and the preset parking space depth to generate the virtual parking space perception result corresponding to the target parking space;

[0162] Use the true parking space perception result and the virtual parking space perception result as the second position information of the target parking space.

[0163] In an embodiment of the present application, the warehousing control sub-module is specifically configured to:

[0164] Calculate according to the first position information of the target parking space and the pose information of the vehicle to obtain the parking space warehousing point and the parking space orientation of the target parking space;

[0165] Adjust the pose of the vehicle according to the parking space warehousing point and the parking space orientation of the target parking space.

[0166] In an embodiment of the present application, the parking control sub-module is specifically configured to calculate according to the second position information of the target parking space and the pose information of the vehicle to obtain the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking space stop line of the vehicle;

[0167] Adjust the relative position between the vehicle and the target parking space according to the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking stop line of the vehicle.

[0168] For the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For related parts, please refer to the partial description of the method embodiments.

[0169] In addition, the embodiments of the present application further provide an electronic device, such as Figure 13 shown, including a processor 1301, a communication interface 1302, a memory 1303, and a communication bus 1304. Among them, the processor 1301, the communication interface 1302, and the memory 1303 communicate with each other through the communication bus 1304.

[0170] The memory 1303 is used to store a computer program.

[0171] When the processor 1301 executes the program stored on the memory 1303, it implements the method described in the above embodiments.

[0172] The communication bus mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus.

[0173] The communication interface is used for communication between the above terminal and other devices.

[0174] The memory may include a Random Access Memory (RAM), or may also include a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0175] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0176] As Figure 14 shown, in another embodiment provided by the present application, a computer-readable storage medium 1401 is further provided. Instructions are stored in the computer-readable storage medium. When executed by one or more processors, the processors are caused to execute the method described in the above embodiment.

[0177] In the above embodiment, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server, data center, etc. that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a Solid State Disk (SSD)).

[0178] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0179] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for the relevant content.

[0180] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. An automatic parking method for a mechanical parking space, characterized in that: The method comprises: Acquiring environmental information of the environment in which the vehicle is located and position information of the vehicle; Identify a mechanical parking space in the environment according to the environmental information, and generate a mechanical parking space perception result corresponding to the mechanical parking space; Performing parking state detection according to the mechanical parking space sensing result and the position information to determine the parking stage corresponding to the vehicle during the parking process; Processing the parking space sensing result to generate a parking strategy for the parking stage; The vehicle is controlled to park in a corresponding target mechanical parking space according to the parking strategy.

2. The method according to claim 1, characterized in that: The performing parking state detection according to the mechanical parking space sensing result and the position information to determine the parking stage corresponding to the vehicle during the parking process includes: Comparing the mechanical parking space perception result with the position information to obtain a relative position relationship between the vehicle and the mechanical parking space; A parking stage corresponding to the vehicle during the parking process is determined according to the relative position relationship.

3. The method according to claim 2, characterized in that: The determining, according to the relative position relationship, the corresponding parking stage of the vehicle during the parking process includes: If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is greater than a preset threshold, the vehicle is in the parking space search stage; If the distance between the rear edge of the vehicle and the corresponding entrance point of the mechanical parking space is less than a preset threshold, and the distance between the rear axle center of the vehicle and the corresponding entrance of the mechanical parking space is greater than a preset threshold, the vehicle is in the parking phase; If the distance between the center of the rear axle of the vehicle and the corresponding entrance point of the mechanical parking space is less than a preset threshold, the vehicle is in the parking stage.

4. The method according to claim 1, characterized in that: The parking stage includes a parking space search stage, a parking entry stage and a parking stage. The processing of the parking space sensing result to generate a parking strategy for the parking stage includes: If the vehicle is in the parking space search phase, the mechanical parking space sensing result is identified to obtain multiple mechanical parking spaces corresponding to the vehicle and position information of the mechanical parking spaces, and the position information is compared with a preset fixed offset to obtain the optimal observed parking space of the vehicle and the position information of the optimal observed parking space; If the vehicle is in the storage stage, the mechanical parking space sensing result is identified to obtain the target parking space where the vehicle is located and the first position information of the target parking space; If the vehicle is in the parking stage, the mechanical parking space sensing result is identified to obtain the target parking space where the vehicle is located and the second position information of the target parking space.

5. The method according to claim 4, characterized in that: The controlling the vehicle to park in the corresponding target mechanical parking space according to the parking strategy includes: If the vehicle is in the parking space searching stage, the vehicle is controlled to park in the optimal observation parking space according to the position information of the optimal observation parking space; If the vehicle is in the parking phase, adjusting the posture of the vehicle to park in the target parking space according to the first position information of the target parking space; If the vehicle is in a parking stage, the relative position of the vehicle and the target parking space is adjusted according to the second position information of the target parking space.

6. The method according to claim 4, characterized in that: The mechanical parking spaces include sloped parking spaces and non-sloped parking spaces, the position information of the optimal observation parking space includes at least the entrance height information of the optimal observation parking space, and the method further includes: If the optimal observation parking space is a slope parking space, performing a segmented regression process on the optimal observation parking space to obtain a slope height estimation value of the optimal observation parking space, and using the slope height estimation value as the entrance height information of the optimal observation parking space; If the optimal observation parking space is a parking space without a slope, the entrance height information of the optimal observation parking space is set to 0.

7. The method according to claim 4, characterized in that: The mechanical parking spaces include non-slope parking spaces and slope parking spaces, the position information of the mechanical parking spaces includes the position information of the non-slope parking spaces and the position information of the slope parking spaces, and if the vehicle is in the parking space search stage, the mechanical parking space sensing result is identified to obtain a plurality of mechanical parking spaces corresponding to the vehicle and the position information of the plurality of mechanical parking spaces, including: For the parking space without slope, the mechanical parking space perception result is extracted to obtain the real parking space perception result corresponding to the parking space without slope, and the parking space virtual perception result corresponding to the parking space without slope is generated according to the real parking space perception result and the preset parking space depth, and the real parking space perception result and the parking space virtual perception result are used as the position information of the parking space without slope; For the sloped parking space, the mechanical parking space perception result is extracted to obtain the real parking space perception result and the real slope perception result corresponding to the sloped parking space, and the parking space virtual perception result corresponding to the sloped parking space is generated according to the real parking space perception result and the preset parking space depth. The slope virtual perception result corresponding to the sloped parking space is generated according to the real slope perception result and the preset slope width. The real parking space perception result, the parking space virtual perception result, the slope real perception result and the slope virtual perception result are used as the position information of the sloped parking space.

8. The method according to claim 4, characterized in that: The target parking space is a non-slope parking space or a slope parking space. If the vehicle is in the parking phase, the mechanical parking space sensing result is identified to obtain the target parking space where the vehicle is located and the first position information of the target parking space, including: If the target parking space is a parking space without a slope, the mechanical parking space perception result is extracted to obtain a real parking space perception result corresponding to the target parking space, and a calculation is performed based on the real parking space perception result and a preset parking space depth to generate a virtual parking space perception result corresponding to the target parking space, and the real parking space perception result and the virtual parking space perception result are used as the first position information of the target parking space; If the target parking space is a sloped parking space, the mechanical parking space perception result is extracted to obtain a real parking space perception result and a real slope perception result corresponding to the target parking space, and calculation is performed based on the real parking space perception result and a preset parking space depth to generate a virtual parking space perception result corresponding to the target parking space, and calculation is performed based on the real slope perception result and a preset slope width to generate a virtual slope perception result corresponding to the target parking space, and the real parking space perception result, the parking space virtual perception result, the real slope perception result and the virtual slope perception result are used as the first position information of the target parking space.

9. The method according to claim 4, characterized in that: If the vehicle is in the parking stage, the mechanical parking space sensing result is identified to obtain the target parking space where the vehicle is located and the second position information of the target parking space, including: Extracting the mechanical parking space perception result to obtain a real parking space perception result corresponding to the target parking space; Calculating according to the real parking space perception result and the preset parking space depth to generate a parking space virtual perception result corresponding to the target parking space; The real parking space perception result and the virtual parking space perception result are used as the second position information of the target parking space.

10. The method according to claim 5, characterized in that: If the vehicle is in the parking phase, adjusting the posture of the vehicle to park in the target parking space according to the first position information of the target parking space includes: Calculating according to the first position information of the target parking space and the position information of the vehicle to obtain a parking entry point and a parking orientation of the target parking space; The posture of the vehicle is adjusted according to the parking entry point and parking orientation of the target parking space.

11. The method according to claim 5, characterized in that: If the vehicle is in the parking stage, adjusting the relative position between the vehicle and the target parking space according to the second position information of the target parking space includes: Calculating according to the second position information of the target parking space and the position information of the vehicle to obtain the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking stop line of the vehicle; The relative position of the vehicle and the target parking space is adjusted according to the orientation angle of the vehicle relative to the target parking space, the offset of the vehicle relative to the target parking space, and the parking space stop line of the vehicle.

12. An automatic parking device for a mechanical parking space, characterized in that: The device comprises: A vehicle information acquisition module is used to acquire environmental information of the environment in which the vehicle is located and position information of the vehicle; A mechanical parking space sensing module, configured to identify a mechanical parking space in the environment according to the environmental information, and generate a mechanical parking space sensing result corresponding to the mechanical parking space; A parking stage determination module, configured to perform parking state detection according to the mechanical parking space sensing result and the position information, and determine the parking stage corresponding to the vehicle during the parking process; A parking strategy determination module, used to process the parking space sensing result and generate a parking strategy for the parking stage; The vehicle planning control module is used to control the vehicle to park in the corresponding target mechanical parking space according to the parking strategy.

13. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 11 when executing the program stored in the memory.

14. A computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 11.

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