An automatic parking method, device, equipment and medium of a mechanical parking space

Abstract

The application provides an automatic parking method, device, equipment and medium of a mechanical parking space. The method comprises: acquiring environment information of an environment in which a vehicle is located and pose information of the vehicle; identifying a mechanical parking space in the environment according to the environment information, and generating a mechanical parking space perception result corresponding to the mechanical parking space; performing parking state detection according to the mechanical parking space perception result and the pose information, and determining a parking stage corresponding to the vehicle in a parking process; processing the parking space perception result, and generating a parking strategy for the parking stage; and controlling the vehicle to park into a target mechanical parking space corresponding to the parking strategy. The embodiments of the application formulate a corresponding parking strategy in real time according to the parking stage of the vehicle, control the vehicle to accurately park into the target mechanical parking space according to the parking strategy, and realize accurate, safe and efficient automatic parking of the vehicle in the mechanical parking space.

Description

Technical Field

[0001] This application relates to the field of automatic parking, and in particular to an automatic parking method for mechanical parking spaces, an automatic parking device for mechanical parking spaces, an electronic device, and a computer-readable storage medium. Background Technology

[0002] With the development of intelligent driving technology, automatic parking has become an essential function of intelligent driving vehicles. The increasing severity of urban traffic congestion and parking difficulties necessitates automatic parking to reduce the driving burden on drivers. Furthermore, automatic parking technology can help drivers automatically complete parking maneuvers in narrow parking spaces, greatly improving the convenience and safety of parking.

[0003] However, existing automatic parking technologies are mainly designed for conventional parking spaces. Mechanical parking spaces, due to their unique structure (such as protrusions on both sides or ramps in front of some spaces), present greater challenges for automatic parking. In particular, changes in ramps and parking space height can cause deviations during automatic parking, affecting parking efficiency. Summary of the Invention

[0004] This application provides an automatic parking method, apparatus, equipment, and medium for mechanical parking spaces to solve the problems of poor adaptability and poor parking effect of existing parking methods in mechanical parking spaces.

[0005] This application discloses an automatic parking method for mechanical parking spaces, the method comprising:

[0006] Obtain environmental information about the vehicle's location and the vehicle's pose information;

[0007] Based on the environmental information, mechanical parking spaces in the environment are identified, and mechanical parking space perception results corresponding to the mechanical parking spaces are generated;

[0008] Based on the mechanical parking space perception results and the pose information, parking status detection is performed to determine the corresponding parking stage of the vehicle during the parking process;

[0009] The parking space perception results are processed to generate a parking strategy for the parking phase.

[0010] The vehicle is controlled to park in the corresponding target mechanical parking space according to the parking strategy.

[0011] Optionally, the step of detecting the parking status based on the mechanical parking space perception result and the pose information, and determining the corresponding parking stage of the vehicle during the parking process, includes:

[0012] The relative positional relationship between the vehicle and the mechanical parking space is obtained by comparing the mechanical parking space perception result and the pose information.

[0013] The parking stage of the vehicle during the parking process is determined based on the relative positional relationship.

[0014] Optionally, determining the parking stage of the vehicle during parking based on the relative positional relationship includes:

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

[0016] If the distance between the rear edge of the vehicle and the 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 entrance of the mechanical parking space is greater than a preset threshold, then the vehicle is in the parking stage.

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

[0018] Optionally, the parking phase includes a parking space search phase, an entry phase, and a parking phase. The process of processing the parking space perception results to generate a parking strategy for the parking phase includes:

[0019] If the vehicle is in the parking space search stage, the mechanical parking space perception result is identified to obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the mechanical parking spaces. The location information is then compared with a preset fixed offset to obtain the optimal observation parking space of the vehicle and the location information of the optimal observation parking space.

[0020] If the vehicle is in the parking phase, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the first location information of the target parking space.

[0021] If the vehicle is in a parking phase, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the second location information of the target parking space.

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

[0023] If the vehicle is in the parking space search stage, the vehicle is controlled to park in the optimal observed parking space according to the location information of the optimal observed parking space;

[0024] If the vehicle is in the parking phase, the posture of the vehicle parking in the target parking space is adjusted according to the first position information of the target parking space;

[0025] If the vehicle is in a parking phase, the relative position of the vehicle and the target parking space is adjusted according to the second position information of the target parking space.

[0026] Optionally, the mechanical parking space includes ramped parking spaces and non-rammed parking spaces, and the location information of the optimal observation parking space includes at least 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, then a piecewise regression process is performed on the optimal observation parking space to obtain the ramp height estimate of the optimal observation parking space, and the ramp height estimate is used as the entrance height information of the optimal observation parking space.

[0028] If the optimal observation parking space is a parking space without a ramp, then the entrance height information of the optimal observation parking space is set to 0.

[0029] Optionally, the mechanical parking spaces include non-ramp parking spaces and ramp parking spaces. The location information of the mechanical parking spaces includes the location information of the non-ramp parking spaces and the location information of the ramp parking spaces. If the vehicle is in the parking space search phase, the mechanical parking space perception result is identified to obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the multiple mechanical parking spaces, including:

[0030] For the non-slope parking space, the mechanical parking space perception result is extracted to obtain the real perception result of the parking space corresponding to the non-slope parking space. Based on the real perception result of the parking space and the preset parking space depth, a virtual perception result of the parking space corresponding to the non-slope parking space is generated. The real perception result of the parking space and the virtual perception result of the parking space are used as the location information of the non-slope parking space.

[0031] For the sloping parking space, the mechanical parking space perception results are extracted to obtain the actual perception results of the parking space and the actual perception results of the slope corresponding to the sloping parking space. Based on the actual perception results of the parking space and a preset parking space depth, a virtual perception result of the parking space corresponding to the sloping parking space is generated. Based on the actual perception results of the slope and a preset slope width, a virtual perception result of the slope corresponding to the sloping parking space is generated. The actual perception results of the parking space, the virtual perception results of the parking space, the actual perception results of the slope, and the virtual perception results of the slope are used as the location information of the sloping parking space.

[0032] Optionally, the target parking space is a parking space without a ramp or a parking space with a ramp. If the vehicle is in the parking entry stage, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the first location information of the target parking space, including:

[0033] If the target parking space is a non-slope parking space, the mechanical parking space perception result is extracted to obtain the real perception result of the parking space corresponding to the target parking space. Based on the real perception result of the parking space and the preset parking space depth, a virtual perception result of the parking space corresponding to the target parking space is generated. The real perception result of the parking space and the virtual perception result of the parking space are used as the first location information of the target parking space.

[0034] If the target parking space is a ramp parking space, the mechanical parking space perception result is extracted to obtain the actual parking space perception result and the actual ramp perception result corresponding to the target parking space. Based on the actual parking space perception result and the preset parking space depth, a virtual parking space perception result corresponding to the target parking space is generated. Based on the actual ramp perception result and the preset ramp width, a virtual ramp perception result corresponding to the target parking space is generated. The actual parking space perception result, the virtual parking space perception result, the actual ramp perception result, and the virtual ramp perception result are used as the first location information of the target parking space.

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

[0036] Extract the mechanical parking space perception results to obtain the actual parking space perception results corresponding to the target parking space;

[0037] Based on the actual perception results of the parking space and the preset parking space depth, a virtual perception result of the target parking space is generated.

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

[0039] Optionally, if the vehicle is in the parking stage, adjusting the vehicle's parking posture in the target parking space according to the first position information of the target parking space includes:

[0040] The parking space entry point and parking space orientation are obtained by calculating based on the first position information of the target parking space and the position and pose information of the vehicle.

[0041] Adjust the vehicle's posture according to the parking space's entry point and orientation.

[0042] Optionally, if the vehicle is in a parking phase, 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] The second position information of the target parking space and the pose information of the vehicle are calculated 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] The relative position of the vehicle and the target parking space is adjusted based on the vehicle's orientation angle relative to the target parking space, the vehicle's offset relative to the target parking space, and the vehicle's parking space stop line.

[0045] This application embodiment also provides an automatic parking device for mechanical parking spaces, the device comprising:

[0046] The vehicle information acquisition module is used to acquire environmental information of the vehicle's surroundings and the vehicle's position and orientation information.

[0047] The mechanical parking space sensing module is used to identify mechanical parking spaces in the environment based on the environmental information and generate mechanical parking space sensing results corresponding to the mechanical parking spaces.

[0048] The parking stage determination module is used to detect the parking status based on the mechanical parking space perception results and the pose information, and determine the corresponding parking stage of the vehicle during the parking process;

[0049] The parking strategy determination module is used to process the parking space perception results and generate a parking strategy for the parking phase.

[0050] The vehicle planning and control module is used to control the vehicle to park in the corresponding target mechanical parking space according to the parking strategy.

[0051] This 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 communicate with each other through the communication bus;

[0052] The memory is used to store computer programs;

[0053] When the processor executes a program stored in the memory, it implements the method described in the embodiments of this application.

[0054] This application also discloses a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this application.

[0055] Compared with the prior art, the embodiments of this application have the following advantages:

[0056] This application provides an automated parking method for mechanical parking spaces. The method involves acquiring environmental information about the vehicle's location and its position and pose information; identifying mechanical parking spaces in the environment based on the environmental information to generate a mechanical parking space perception result; performing parking state detection based on the mechanical parking space perception result and position and pose information to determine the corresponding parking stage of the vehicle; processing the parking space perception result 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. This application provides a method for developing corresponding parking strategies in real time based on the vehicle's parking stage and controlling the vehicle to park in the target mechanical parking space according to the parking strategy, ensuring that the vehicle can accurately park in mechanical parking spaces under different environments, thus achieving accurate, safe, and efficient automated parking of the vehicle in mechanical parking spaces. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart illustrating the steps of an automatic parking method for a mechanical parking space provided in an embodiment of this application;

[0059] Figure 2 This is a schematic diagram of a vehicle parking phase provided in an embodiment of this application;

[0060] Figure 3 This is a schematic diagram of a scenario for determining ramp parking space information provided in an embodiment of this application;

[0061] Figure 4 This is a schematic diagram of a scenario for determining the optimal observation parking space provided in an embodiment of this application;

[0062] Figure 5 This is a schematic diagram of a scenario for determining the height of a ramp parking space entrance, provided in an embodiment of this application;

[0063] Figure 6 This is a schematic diagram of a scenario for determining the location information of the optimal observation parking space, provided in an embodiment of this application.

[0064] Figure 7 This is a schematic diagram illustrating a scenario of adjusting vehicle posture during the parking phase, as provided in an embodiment of this application.

[0065] Figure 8 This is a schematic diagram illustrating a scenario of adjusting vehicle posture during parking, provided in an embodiment of this application.

[0066] Figure 9 This is a schematic diagram of the parking space update management process during the parking space search phase provided in an embodiment of this application;

[0067] Figure 10 This is a schematic diagram of the process for parking space update management during the entry stage provided in an embodiment of this application;

[0068] Figure 11 This is a schematic diagram of the parking space update management process provided in the embodiments of this application;

[0069] Figure 12 This is a structural block diagram of an automatic parking device for a mechanical parking space provided in an embodiment of this application;

[0070] Figure 13 This is a block diagram of an electronic device provided in an embodiment of this application;

[0071] Figure 14 This is a schematic diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0072] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0074] However, existing automatic parking technologies are mainly designed for conventional parking spaces. Mechanical parking spaces, due to their unique structure (such as protrusions on both sides or ramps in front of some spaces), present greater challenges for automatic parking. In particular, changes in ramps and parking space height can cause deviations during automatic parking, affecting parking efficiency.

[0075] The advantages of this application compared to existing technologies are as follows: It acquires environmental information about the vehicle's environment and the vehicle's pose information; identifies mechanical parking spaces in the environment based on the environmental information, and generates a mechanical parking space perception result corresponding to the mechanical parking space; performs parking status detection based on the mechanical parking space perception result and pose information to determine the corresponding parking stage of the vehicle during parking; processes the parking space perception result to generate a parking strategy for the parking stage; and controls the vehicle to park in the corresponding target mechanical parking space according to the parking strategy. This application's embodiments formulate corresponding parking strategies in real time based on the vehicle's parking stage, and control the vehicle to park in the target mechanical parking space according to the parking strategy, ensuring that the vehicle can accurately park in mechanical parking spaces under different environments, achieving accurate, safe, and efficient automatic parking of the vehicle in mechanical parking spaces.

[0076] Reference Figure 1 The diagram illustrates a flowchart of the steps of an automatic parking method for a mechanical parking space provided in an embodiment of this application, which may specifically include the following steps:

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

[0078] In this embodiment, during the parking process, environmental information surrounding the vehicle is first acquired, such as the location of mechanical parking spaces and obstacles, as well as the vehicle's real-time pose information, such as its position and orientation. This embodiment provides comprehensive data for subsequent mechanical parking space recognition and parking strategy formulation using the vehicle's environmental and pose information.

[0079] As an example, environmental information about the vehicle's surroundings and its pose information can be obtained through sensors, such as by acquiring environmental images based on the fisheye camera equipped on the vehicle, and determining the vehicle's position information and its own attitude information through GPS (Global Positioning System) and IMU (Inertial Measurement Unit).

[0080] Step 102: Identify the mechanical parking spaces in the environment based on the environmental information, and generate the mechanical parking space perception result corresponding to the mechanical parking space;

[0081] In this embodiment, after acquiring the vehicle's environmental information and vehicle pose information, mechanical parking spaces in the environment are identified based on the environmental information. The specific location and characteristics of the mechanical parking spaces are determined, such as their position, size, and type. A mechanical parking space perception result is then generated, ensuring the real-time nature of the perception. This embodiment generates accurate mechanical parking space perception results using real-time vehicle environmental information, providing data support for subsequent parking stage judgments and parking strategy formulation.

[0082] As an example, parking line visual detection technology can be used to analyze environmental images around a vehicle, identify the position and shape of the parking lines, and thus generate mechanical parking space perception results. Specifically, an onboard camera, such as a fisheye camera, is used to collect environmental images around the vehicle. These images include information such as parking lines, parking space boundaries, and obstacles. A deep learning model is then used to detect the position and shape of the parking lines. Based on the shape of the parking lines, the type of parking space (e.g., ramped or non-rammed) is determined. Finally, a mechanical parking space perception result is generated, including information such as the parking space's location, size, type, and entrance point.

[0083] Step 103: Based on the mechanical parking space perception results and the pose information, perform parking status detection to determine the corresponding parking stage of the vehicle during the parking process;

[0084] In this embodiment, the parking status of the vehicle is detected in real time by using mechanical parking space sensing results and the vehicle's pose information to determine the current parking stage of the vehicle. For example, the vehicle may be searching for a parking space, entering a selected target parking space, or adjusting its parking position. Further, corresponding parking strategies can be provided based on the vehicle's parking stage, and then appropriate control can be executed. This embodiment, by clearly defining the parking stages of the vehicle, more efficiently formulates corresponding parking strategies.

[0085] In a preferred embodiment of this application, the step of detecting the parking state based on 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] The relative positional relationship between the vehicle and the mechanical parking space is obtained by comparing the mechanical parking space perception result and the pose information.

[0087] The parking stage of the vehicle during the parking process is determined based on the relative positional relationship.

[0088] In this embodiment, during the detection of a vehicle's parking status, the parking stage of the vehicle is accurately determined by the relative positional relationship between the vehicle and the mechanical parking space. Specifically, by comparing the sensing results of the mechanical parking space with the vehicle's pose information, the relative positional 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 vehicle's orientation relative to the mechanical parking space. The parking stage of the vehicle is further determined based on this relative positional relationship. 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 is close to the mechanical parking space, it is in the stage of entering the parking space; and when the vehicle has partially or completely entered the mechanical parking space, it is in the stage of parking. This embodiment accurately determines the parking stage of the vehicle by the relative positional relationship between the vehicle and the mechanical parking space.

[0089] In a preferred embodiment of this application, determining the parking stage of the vehicle during parking based on the relative positional relationship includes:

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

[0091] If the distance between the rear edge of the vehicle and the 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 entrance of the mechanical parking space is greater than a preset threshold, then the vehicle is in the parking stage.

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

[0093] In this embodiment, the parking stage of the vehicle is accurately determined by the distance between the rear edge and rear axle center of the vehicle and the mechanical parking space entrance point, combined with a preset threshold. Specifically, the stage is divided into the vehicle searching for a parking space, the vehicle entering the parking space, and the vehicle parking.

[0094] As an example, refer to Figure 2 This illustration shows a scenario diagram of a vehicle parking stage according to an embodiment of this 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 a preset threshold, i.e., the vehicle is not close to a specific mechanical parking space, the vehicle is determined to be in the parking space search stage (e.g., ...). Figure 2 a) When the distance between the rear edge of the vehicle and the entrance point of the parking space is less than a 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 a preset threshold, meaning the vehicle is close to the mechanical parking space and ready to enter, then the vehicle is determined to be in the parking entry stage (e.g., Figure 2 b) When the distance between the rear axle center of the vehicle and the entrance point of the parking space is less than a preset threshold, meaning the vehicle has partially or fully entered the mechanical parking space, the vehicle is determined to be in the parking stage (e.g., Figure 2c). The preset threshold can be set to 0 or 0.5m, etc., and can be set according to the size of the vehicle or mechanical parking space. This application does not impose specific restrictions on this.

[0095] Step 104: Process the parking space perception results to generate a parking strategy for the parking phase;

[0096] In this embodiment, after determining the parking stage of the vehicle, a parking strategy is generated based on the parking space perception result. This includes providing a path planning strategy for the target mechanical parking space when the vehicle is searching for a space, an entry point adjustment strategy during the parking phase, and a vehicle position adjustment strategy during the parking phase. This embodiment generates and adjusts parking strategies in real time for different parking stages to ensure the vehicle accurately parks in the target mechanical parking space.

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

[0098] If the vehicle is in the parking space search stage, the mechanical parking space perception result is identified to obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the mechanical parking spaces. The location information is then compared with a preset fixed offset to obtain the optimal observation parking space of the vehicle and the location information of the optimal observation parking space.

[0099] If the vehicle is in the parking phase, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the first location information of the target parking space.

[0100] If the vehicle is in a parking phase, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the second location information of the target parking space.

[0101] In this embodiment, parking strategies for different parking stages are generated based on the mechanical parking space perception results. Specifically:

[0102] When the vehicle is in the parking space search stage, the mechanical parking space perception results are identified to obtain multiple mechanical parking spaces around the vehicle and their location information. The location information of each mechanical parking space is then compared with a preset fixed offset to determine the optimal observation parking space and its location information.

[0103] In the specific implementation process, if the mechanical parking space is a non-slope parking space, the four corner points (P1, P2, P3, P4) of the mechanical parking space are detected based on the mechanical parking space perception results and used as the real perception results R{P1, P2, P3, P4} of the parking space. Then, based on the real perception results of the parking space and the preset fixed depth of the parking space, the virtual perception results of the parking space R'{P1, P2, P3', P4'} are calculated and obtained. The real perception results of the parking space and the corresponding virtual perception results of the parking space are used as the location information of the non-slope parking space.

[0104] If the mechanical parking space is a ramp parking space, then the four corner points of the mechanical parking space are obtained as the actual perception results based on the mechanical parking space perception results. This is then combined with a preset fixed depth of the parking space to determine the virtual perception results. Simultaneously, the four corner points (S1, S2, S3, S4) of the ramp of the mechanical parking space are obtained as the actual perception results of the ramp. Based on the actual perception results of the ramp and the preset ramp width, the virtual perception results of the ramp are calculated and obtained. Figure 3 As an example: the preset slope width is 40cm, S3' = P2, S4' = P1, S1' and S2' are calculated based on S3'S4': S1' is 40cm from S4' along the perpendicular line of S3'S4', and S2' is 40cm from S3' along the perpendicular line of S3'S4', thus obtaining the slope virtual perception result (S1', S2', S3', S4'). Finally, the parking space real perception result, parking space virtual perception result, slope real perception result, and slope virtual perception result are used as the location information of the slope parking space.

[0105] Furthermore, the location information of multiple mechanical parking spaces is compared with preset fixed offset parameters to determine whether a mechanical parking space is the optimal observation parking space, referring to... Figure 4 P1, P2, P3, and P4 are the four corner points of the mechanical parking space, and C1 is the installation position of the left-side surround-view camera. The origin of the vehicle coordinate system is at the center of the rear axle of the vehicle, and the X and Y axes are directly in front of and to the right of the vehicle, respectively. A fixed offset coefficient is defined: Xoffset = 0.5m to define the lateral range of the parking space; Yoffset1 = 0.3m to define the minimum longitudinal range of the parking space; and Yoffset2 = 2.0m to define the maximum longitudinal range of the parking space. If the lateral condition representing the installation position of the left-side surround-view camera within the lateral range of the parking space is satisfied: P2.x - Xoffset <= C1.x <= P1.x + Xoffset, and the longitudinal condition representing the installation position of the left-side surround-view camera within the longitudinal range of the parking space is satisfied: (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. Figure 4Parking space 2 meets both the lateral and longitudinal conditions, therefore it is the optimal observation parking space; the other parking spaces do not meet the conditions, therefore they are not 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 impose any restrictions on this.

[0106] Furthermore, the location information of the optimal observed parking space includes both the location of the optimal observed parking space and the entrance height information. Regarding the entrance height information, if the optimal observed parking space is a non-sloping parking space, its entrance height is directly set to 0; if the optimal observed parking space is a sloping parking space, the entrance height of the sloping parking space is estimated according to the piecewise regression principle to determine the entrance height information of the optimal observed parking space. Specifically, refer to... Figure 5 For sloping parking spaces, the angle of the polygon frame projected onto the sloping surface (S1, S2, S3, S4) at different positions in multiple frames can be used to estimate the height projection distortion angle. For the same parking space, the slope detection results under observations at T1, T2, and T3 are selected. At observation time T1, when the included angle abs(S2S3S4-90 degrees) <= 1.5 degrees, this is considered the optimal observation time for the S2S3 edge of the slope, and the global coordinates of S2 and S3 are obtained. At observation time T2, when the absolute value of the difference between the two included angles abs(S1S4S3-S2S3S4) <= 1.5 degrees, this is considered the optimal observation time for the center of the slope, and the angle of the optimal observation slope is obtained as the average of the two included angles, which is used as the height projection distortion angle: (S1S4S3+S2S3S4). 4) / 2, obtain the global coordinates of S1, S2, S3, and S4; at observation time T3, when the included angle abs(S1S4S3-90 degrees) <= 1.5 degrees, it is considered that this moment is the optimal observation time of the S1S2 side of the slope, and the global coordinates of S1 and S4 are obtained; then, after obtaining the information at the above times T1T2T3, the height projection offset caused by the height of S3S4 at time T2 is obtained: {length(S3S4 at time T2) - length(S3 at time T1, S4 at time T3)} / 2; according to the height calculation formula: height projection distortion angle * height projection offset, the height calculation value of the slope S3S4 is determined as the entrance height of the slope parking space.

[0107] Based on the location information of the optimal observation parking space, refer to Figure 6Update the location 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 time T1, which is the optimal observation time for mechanical parking space P2P3. Record the global coordinates P2 and P3 for the optimal observation of 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 time T2, which is the optimal observation time for the entire mechanical parking space. Record the global coordinates P1, P2, P3, and P4. P1.x - 20cm <= C1.x <= P1.x + 20cm Furthermore, the absolute value of the angle between P1P2 and the X-axis is less than 3 degrees, indicating that time T3 is the optimal observation time for mechanical parking space P1P4. Record the global coordinates P1 and P4 for the optimal observation of mechanical parking spaces P2P3. Record the four corner points of the optimal observation parking space detection results: VP1{x,y}={T3 time P1.x, T2 time P1.y}, VP2{x,y}={T1 time P1.x, T2 time P2.y}, VP3{x,y}={T1 time P1.x, T2 time P2.y}, VP4{x,y}={T3 time P1.x, T2 time P2.y}. Output VP1{VP1, VP2, VP3, VP4} as the position information of the optimal observation parking space. Here, 20cm is the distance interval set for different observation times.

[0108] Optionally, after obtaining multiple mechanical parking space information and the optimal observed parking space information during the parking space search stage, the information can be visualized, such as through an in-vehicle screen. Users can select a target mechanical parking space from the 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. Alternatively, parking space recommendation results of the optimal observed parking space information can be provided, and then automatically control the vehicle to drive into the optimal observed parking space in response to the user's confirmation operation.

[0109] When a vehicle is in the parking space, the mechanical parking space perception results are identified to obtain the target parking space where the vehicle is currently located and its location information.

[0110] Specifically, when a vehicle is in the parking space, the target parking space may be a non-slope parking space or a sloped parking space. If the target parking space is a non-slope parking space, the actual perception result of the target parking space is obtained based on the mechanical parking space perception result. Then, based on the preset parking space depth and the actual parking space perception result, the corresponding virtual parking space perception result is calculated. The virtual parking space perception result and the actual parking space perception result are used as the location information of the target parking space. If the target parking space is a sloped parking space, the actual parking space perception result and the actual slope perception result are obtained based on the mechanical parking space perception result. Then, combined with the preset fixed parking space depth and slope width, the virtual parking space perception result and the virtual slope perception result are determined. Finally, the actual parking space perception result, the virtual parking space perception result, the actual slope perception result, and the virtual slope perception result are used as the location information of the target parking space.

[0111] When a vehicle is parked, the mechanical parking space perception results are identified to obtain the target parking space and its location information where the vehicle is currently located.

[0112] Specifically, when a vehicle is in the parking stage, the parking space where the vehicle is located, i.e. the target parking space, may be a parking space without a ramp or a parking space with a ramp. When a vehicle is in the parking stage, it means that the vehicle has been parked on the ramp, so there is no need to consider the ramp. The virtual perception result and the real perception result of the parking space are obtained directly based on the mechanical parking space perception result and the preset parking space depth as the location information of the target parking space.

[0113] Furthermore, after obtaining the location information of the mechanical parking spaces, the location information of the mechanical parking spaces can be further globally tracked based on the vehicle's location information, converting the mechanical parking space location information into a global coordinate system to more accurately determine the location of the mechanical parking spaces. Specifically, a global tracking algorithm can be used to globally track the virtual perception results of the parking spaces in the mechanical parking space location information based on the vehicle's location information, and then the globally tracked virtual perception results can be updated into the mechanical parking space location information. This embodiment of the application, through a global tracking algorithm, fuses parking space location information with vehicle positioning information, which can more accurately determine the location of the mechanical parking spaces, and through the global tracking algorithm, the occupancy status of the parking spaces can be perceived in real time.

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

[0115] In this embodiment, after determining a parking strategy for the vehicle, the vehicle is controlled to complete specific parking operations according to the parking strategy to ensure that the vehicle is accurately and safely parked in the target mechanical parking space. Specifically, control commands for the vehicle are generated based on the parking strategy, and the vehicle is parked in the target mechanical parking space according to the planned path and actions. This embodiment improves the accuracy, safety, and efficiency of automatic parking by accurately controlling the vehicle to park in the target mechanical parking space through the execution of the parking strategy.

[0116] In a preferred embodiment of this 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 parking space search stage, the vehicle is controlled to park in the optimal observed parking space according to the location information of the optimal observed parking space;

[0118] If the vehicle is in the parking phase, the posture of the vehicle 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 a parking phase, the relative position of the vehicle and the target parking space is adjusted according to the second position information of the target parking space.

[0120] In this embodiment, when the vehicle is searching for a parking space, information on multiple mechanical parking spaces around the vehicle is acquired, and the optimal observation parking space is selected from the multiple mechanical parking spaces. Finally, the vehicle is automatically controlled to drive into the optimal observation parking space. When the vehicle is in the parking stage and needs to enter the parking space in the optimal posture, the location information of the target parking space where the vehicle is located is acquired, and the parking posture of the vehicle is adjusted according to the location information of the target parking space. When the vehicle is in the parking stage and only needs to make minor adjustments to the vehicle position, the location information of the target parking space where the vehicle is located is acquired, and the relative position of the vehicle and the mechanical vehicles is adjusted according to the location information of the target parking space.

[0121] Furthermore, when the vehicle is in the parking phase, the parking space entry point and orientation are calculated based on the location information of the target parking space and the vehicle's posture information. The vehicle's posture is then adjusted according to the parking space entry point and orientation to ensure that the vehicle is parked in the target parking space in the best posture.

[0122] Specifically, refer to Figure 7This illustration shows a scenario diagram of adjusting vehicle posture during the parking phase according to an embodiment of this application. For a target parking space without a ramp, points P1 and P2 are the entrance points of the parking space. Using the rear axle center 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. Therefore, P1 and P2 are updated as the parking space entrance points, 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 a target parking space with a ramp, points S1 and S2 on the ramp are the entrance points of the parking space. 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. Therefore, S1 and S2 are updated as the parking space entrance points, 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. This application embodiment accurately determines the parking space entry point and entry orientation by using the angle between the parking space entrance point and the perpendicular bisector and the X-axis of the vehicle coordinate system, ensuring that the vehicle enters the parking space in the best posture.

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

[0124] Specifically, refer to Figure 8This illustration shows a scenario diagram of adjusting vehicle posture during parking, as provided in an embodiment of this application. In the specific implementation, for the vehicle's orientation angle relative to the target parking space, the angle between the extended line from point P4 to point P1 of the target parking space and the X-axis, and the angle between the extended line from point P3 to point P2 of the target parking space and the X-axis, are calculated. The average of these two angles is taken as the vehicle's orientation angle relative to the target parking space, ensuring that the vehicle's orientation is aligned with the parking space's orientation and preventing the vehicle from parking at an angle in the target parking space. Regarding the vehicle's offset relative to the target parking space, the offset is divided into lateral offset 1: (distance from the center of the vehicle's rear axle to the perpendicular line from P1 to P4 - distance from the center of the vehicle's rear axle to the perpendicular line from P2 to P3) / 2. Lateral offset 2: (distance from the center of the vehicle's front axle to the perpendicular line from P1P4 to the edge - distance from the center of the vehicle's front axle to the perpendicular line from P2P3 to the edge) / 2; Longitudinal offset 1: distance from the front edge of the vehicle to the perpendicular line from P1P2 to the edge; and Longitudinal offset 2: distance from the rear edge of the vehicle to the perpendicular line from P3P4 to the edge. The lateral offset is used to adjust the lateral position of the vehicle relative to the center line of the target parking space, ensuring that the vehicle is centered in 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, ensuring that the vehicle is completely parked in the target parking space. For the vehicle's parking space stop line, a fixed value is set as the distance from the rear tire of the vehicle to the rear edge of the vehicle. The vehicle stop line is then set as a fixed value that is shifted from the P3P4 line segment towards the P1P2 direction. By setting a fixed value, it is ensured that the rear tire of the vehicle is close to the rear boundary of the target parking space, preventing the vehicle from exceeding the parking space boundary and ensuring 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 this application, the following examples are provided for illustrative purposes:

[0126] Reference Figure 9This diagram illustrates a flowchart of parking space update management during the parking space search phase provided in this application embodiment. 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 phase, the location information of multiple mechanical parking spaces around the vehicle is obtained based on the mechanical parking space perception result. Mechanical parking spaces are categorized into those without ramps and those with ramps for processing. Then, after obtaining the location information of multiple mechanical parking spaces, global tracking of the location information of multiple mechanical parking spaces is performed based on the vehicle's positioning information to convert the mechanical parking space location information into a global coordinate system. The tracked mechanical parking space location information, i.e., the global parking space tracking result, is then sent to the HMI (Human-Machine Interface). The system uses a human-machine interface (HMI) to visualize the parking information. After obtaining the location information of multiple mechanical parking spaces, it selects the empty parking space that is the optimal observation parking space as the recommended optimal parking space. If the optimal parking space is a ramp parking space, it estimates the entrance height and calculates the entrance height information. If the optimal parking space is a non-rammed parking space, it directly sets the entrance height information to 0. Finally, it outputs the optimal parking space recommendation result, which includes the location information and entrance height information of the optimal parking space, to the HMI for visualization and displays, while controlling the vehicle to park in the optimal parking space.

[0127] Reference Figure 10 This document illustrates a flowchart of parking space update management during the entry phase provided in an embodiment of this 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 entry phase, the location information of the target parking space where the vehicle is located is obtained based on the mechanical parking space perception result. Then, the location information of the target parking space is globally tracked based on the vehicle positioning information. The globally tracked location information of the target parking space is output to the HMI for visualization. At the same time, the entry point and parking space orientation of the target parking space are updated and corrected based on the globally tracked location information of the target parking space. Then, the vehicle's entry posture is adjusted based on the entry point and parking space orientation to ensure that the vehicle is parked in the target parking space in the optimal posture.

[0128] Reference Figure 11This document illustrates a flowchart of parking space update management during the parking phase provided in an embodiment of this 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 phase, the location information of the target parking space where the vehicle is located is obtained based on the mechanical parking space perception result. Then, the location information of the target parking space is globally tracked based on the vehicle positioning information. The globally tracked location information of the target parking space is output to the HMI for visualization. At the same time, the location information of the target parking space is updated based on the globally tracked location information of the target parking space. Then, the relative position of the vehicle and the target parking space is adjusted based on the updated location information of the target parking space to ensure that the vehicle is accurately parked in the target parking space.

[0129] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0130] Reference Figure 12 This diagram illustrates a structural block diagram of an automatic parking device for a mechanical parking space according to an embodiment of this application. The device includes:

[0131] The vehicle information acquisition module 1201 is used to acquire environmental information of the vehicle's environment and the vehicle's position and pose information.

[0132] The mechanical parking space sensing module 1202 is used to identify mechanical parking spaces in the environment based on the environmental information and generate mechanical parking space sensing results corresponding to the mechanical parking spaces.

[0133] The parking stage determination module 1203 is used to perform parking state detection based on the mechanical parking space perception result and the pose information, and determine the corresponding parking stage of the vehicle during the parking process;

[0134] The parking strategy determination module 1204 is used to process the parking space perception result and generate a parking strategy for the parking stage.

[0135] The vehicle planning and control module 1205 is used to control the vehicle to park in the corresponding target mechanical parking space according to the parking strategy.

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

[0137] The relative position relationship determination submodule is used 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] The parking phase determination submodule is used to determine the corresponding parking phase of the vehicle during the parking process based on the relative positional relationship.

[0139] In one embodiment of this application, the parking phase determination submodule is specifically used for:

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

[0141] If the distance between the rear edge of the vehicle and the 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 entrance of the mechanical parking space is greater than a preset threshold, then the vehicle is in the parking stage.

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

[0143] In one embodiment of this application, the parking stage includes a parking space search stage, an entry stage, and a parking stage. The parking strategy determination module 1204 includes:

[0144] The parking space information acquisition submodule is used to identify the mechanical parking space perception result if the vehicle is in the parking space search stage, obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the mechanical parking spaces, and compare the location information with a preset fixed offset to obtain the optimal observation parking space of the vehicle and the location information of the optimal observation parking space.

[0145] The entry information acquisition submodule is used to identify the mechanical parking space perception result if the vehicle is in the entry stage, and obtain the target parking space where the vehicle is located and the first location information of the target parking space.

[0146] The parking information acquisition submodule is used to identify the mechanical parking space perception result if the vehicle is in the parking stage, and obtain the target parking space where the vehicle is located and the second location information of the target parking space.

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

[0148] The search control submodule is used to control the vehicle to park in the optimal observed parking space based on the location information of the optimal observed parking space if the vehicle is in the parking space search stage.

[0149] The vehicle entry control submodule is used to adjust the posture of the vehicle as it enters the target parking space according to the first position information of the target parking space if the vehicle is in the entry stage.

[0150] The parking control submodule is used to adjust the relative position of 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 one embodiment of this application, the mechanical parking space includes ramped parking spaces and non-rammed parking spaces, and the location information of the optimal observation parking space includes at least the entrance height information of the optimal observation parking space. The parking space information acquisition submodule further includes:

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

[0153] In one embodiment of this application, the mechanical parking space includes non-ramp parking spaces and ramp parking spaces. The location information of the mechanical parking space includes the location information of the non-ramp parking space and the location information of the ramp parking space. The parking space information acquisition submodule includes:

[0154] The ramp parking space calculation unit is used to extract the mechanical parking space perception results for the non-rammed parking space, obtain the real perception results of the parking space corresponding to the non-rammed parking space, and calculate and generate the virtual perception results of the parking space corresponding to the non-rammed parking space based on the real perception results of the parking space and the preset parking space depth. The real perception results of the parking space and the virtual perception results of the parking space are used as the location information of the non-rammed parking space.

[0155] A non-sloping parking space calculation unit is used to extract the mechanical parking space perception results for the sloping parking space, obtain the actual parking space perception result and the actual slope perception result corresponding to the sloping parking space, calculate and generate the virtual parking space perception result corresponding to the sloping parking space based on the actual parking space perception result and a preset parking space depth, and calculate and generate the virtual slope perception result corresponding to the sloping parking space based on the actual slope perception result and a preset slope width. The actual parking space perception result, the virtual parking space perception result, the actual slope perception result, and the virtual slope perception result are used as the location information of the sloping parking space.

[0156] In one embodiment of this application, the target parking space is a parking space without a ramp or a parking space with a ramp, and the entry information acquisition submodule is specifically used for:

[0157] If the target parking space is a non-slope parking space, the mechanical parking space perception result is extracted to obtain the real perception result of the parking space corresponding to the target parking space. Based on the real perception result of the parking space and the preset parking space depth, a virtual perception result of the parking space corresponding to the target parking space is generated. The real perception result of the parking space and the virtual perception result of the parking space are used as the first location information of the target parking space.

[0158] If the target parking space is a ramp parking space, the mechanical parking space perception result is extracted to obtain the actual parking space perception result and the actual ramp perception result corresponding to the target parking space. Based on the actual parking space perception result and the preset parking space depth, a virtual parking space perception result corresponding to the target parking space is generated. Based on the actual ramp perception result and the preset ramp width, a virtual ramp perception result corresponding to the target parking space is generated. The actual parking space perception result, the virtual parking space perception result, the actual ramp perception result, and the virtual ramp perception result are used as the first location information of the target parking space.

[0159] In one embodiment of this application, the parking information acquisition submodule is specifically used for:

[0160] Extract the mechanical parking space perception results to obtain the actual parking space perception results corresponding to the target parking space;

[0161] Based on the actual perception results of the parking space and the preset parking space depth, a virtual perception result of the target parking space is generated.

[0162] The actual parking space perception result and the virtual parking space perception result are used as the second location information of the target parking space.

[0163] In one embodiment of this application, the warehousing control submodule is specifically used for:

[0164] The parking space entry point and parking space orientation are obtained by calculating based on the first position information of the target parking space and the position and pose information of the vehicle.

[0165] Adjust the vehicle's posture according to the parking space's entry point and orientation.

[0166] In one embodiment of this application, the parking control submodule is specifically used to calculate, based on the second position information of the target parking space and the pose information of the vehicle, 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] The relative position of the vehicle and the target parking space is adjusted based on the vehicle's orientation angle relative to the target parking space, the vehicle's offset relative to the target parking space, and the vehicle's parking space stop line.

[0168] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0169] In addition, embodiments of this application also provide an electronic device, such as... Figure 13 As shown, it includes a processor 1301, a communication interface 1302, a memory 1303, and a communication bus 1304. The processor 1301, the communication interface 1302, and the memory 1303 communicate with each other through the communication bus 1304.

[0170] Memory 1303 is used to store computer programs;

[0171] The processor 1301, when executing the program stored in the memory 1303, implements the method described in the above embodiments.

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

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

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

[0175] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0176] like Figure 14 As shown, in another embodiment provided in this application, a computer-readable storage medium 1401 is also provided, which stores instructions that, when executed by one or more processors, cause the processors to perform the methods described in the above embodiments.

[0177] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

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

[0179] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0180] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. An automatic parking method for mechanical parking spaces, characterized in that, The method includes: Obtain environmental information about the vehicle's location and the vehicle's pose information; Based on the environmental information, mechanical parking spaces in the environment are identified, and mechanical parking space perception results corresponding to the mechanical parking spaces are generated; Based on the mechanical parking space perception results and the pose information, parking status detection is performed to determine the corresponding parking stage of the vehicle during the parking process; The parking space perception results are processed to generate a parking strategy for the parking phase. The vehicle is controlled to park in the corresponding target mechanical parking space according to the parking strategy; The parking phase includes a parking space search phase, an entry phase, and a parking phase. The process of processing the parking space perception results to generate a parking strategy for the parking phase includes: If the vehicle is in the parking space search stage, the mechanical parking space perception result is identified to obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the mechanical parking spaces. The location information is then compared with a preset fixed offset to obtain the optimal observation parking space of the vehicle and the location information of the optimal observation parking space. If the vehicle is in the parking phase, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the first location information of the target parking space. 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 location information of the target parking space; The mechanical parking spaces include ramped parking spaces and non-rammed parking spaces. The location information of the optimal observation parking space includes at least the entrance height information of the optimal observation parking space. The method further includes: If the optimal observation parking space is a ramp parking space, then a piecewise regression process is performed on the optimal observation parking space to obtain the ramp height estimate of the optimal observation parking space, and the ramp height estimate is used as the entrance height information of the optimal observation parking space. If the optimal observation parking space is a parking space without a ramp, then the entrance height information of the optimal observation parking space is set to 0.

2. The method according to claim 1, characterized in that, The step of detecting the parking status based on the mechanical parking space perception result and the pose information, and determining the corresponding parking stage of the vehicle during the parking process, includes: The relative positional relationship between the vehicle and the mechanical parking space is obtained by comparing the mechanical parking space perception result and the pose information. The parking stage of the vehicle during the parking process is determined based on the relative positional relationship.

3. The method according to claim 2, characterized in that, Determining the parking stage of the vehicle during parking based on the relative positional relationship includes: If the distance between the rear edge of the vehicle and the entrance point corresponding to 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 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 entrance of the mechanical parking space is greater than a preset threshold, then the vehicle is in the parking stage. If the distance between the rear axle center of the vehicle and the corresponding entrance point of the mechanical parking space is less than a preset threshold, then the vehicle is in the parking stage.

4. The method according to claim 1, characterized in that, The step of 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 search stage, the vehicle is controlled to park in the optimal observed parking space according to the location information of the optimal observed parking space; If the vehicle is in the parking phase, the posture of the vehicle parking in the target parking space is adjusted according to the first position information of the target parking space; If the vehicle is in a parking phase, the relative position of the vehicle and the target parking space is adjusted according to the second position information of the target parking space.

5. The method according to claim 1, characterized in that, The mechanical parking spaces include non-slope parking spaces and sloped parking spaces. The location information of the mechanical parking spaces includes the location information of the non-slope parking spaces and the location information of the sloped parking spaces. If the vehicle is in the parking space search phase, the mechanical parking space perception result is identified to obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the multiple mechanical parking spaces, including: For the non-slope parking space, the mechanical parking space perception result is extracted to obtain the real perception result of the parking space corresponding to the non-slope parking space. Based on the real perception result of the parking space and the preset parking space depth, a virtual perception result of the parking space corresponding to the non-slope parking space is generated. The real perception result of the parking space and the virtual perception result of the parking space are used as the location information of the non-slope parking space. For the sloping parking space, the mechanical parking space perception results are extracted to obtain the actual perception results of the parking space and the actual perception results of the slope corresponding to the sloping parking space. Based on the actual perception results of the parking space and a preset parking space depth, a virtual perception result of the parking space corresponding to the sloping parking space is generated. Based on the actual perception results of the slope and a preset slope width, a virtual perception result of the slope corresponding to the sloping parking space is generated. The actual perception results of the parking space, the virtual perception results of the parking space, the actual perception results of the slope, and the virtual perception results of the slope are used as the location information of the sloping parking space.

6. The method according to claim 1, characterized in that, The target parking space is either a non-slope parking space or a sloped parking space. If the vehicle is in the parking entry stage, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the first location information of the target parking space, including: If the target parking space is a non-slope parking space, the mechanical parking space perception result is extracted to obtain the real perception result of the parking space corresponding to the target parking space. Based on the real perception result of the parking space and the preset parking space depth, a virtual perception result of the parking space corresponding to the target parking space is generated. The real perception result of the parking space and the virtual perception result of the parking space are used as the first location information of the target parking space. If the target parking space is a ramp parking space, the mechanical parking space perception result is extracted to obtain the actual parking space perception result and the actual ramp perception result corresponding to the target parking space. Based on the actual parking space perception result and the preset parking space depth, a virtual parking space perception result corresponding to the target parking space is generated. Based on the actual ramp perception result and the preset ramp width, a virtual ramp perception result corresponding to the target parking space is generated. The actual parking space perception result, the virtual parking space perception result, the actual ramp perception result, and the virtual ramp perception result are used as the first location information of the target parking space.

7. The method according to claim 1, characterized in that, If the vehicle is in a parking phase, the mechanical parking space perception result is identified to obtain the target parking space where the vehicle is located and the second location information of the target parking space, including: Extract the mechanical parking space perception results to obtain the actual parking space perception results corresponding to the target parking space; Based on the actual perception results of the parking space and the preset parking space depth, a virtual perception result of the target parking space is generated. The actual parking space perception result and the virtual parking space perception result are used as the second location information of the target parking space.

8. The method according to claim 4, characterized in that, If the vehicle is in the parking phase, adjusting the vehicle's parking posture in the target parking space according to the first position information of the target parking space includes: The parking space entry point and parking space orientation are obtained by calculating based on the first position information of the target parking space and the position and pose information of the vehicle. Adjust the vehicle's posture according to the parking space's entry point and orientation.

9. The method according to claim 4, characterized in that, If the vehicle is in a parking phase, adjusting the relative position of the vehicle and the target parking space according to the second position information of the target parking space includes: The second position information of the target parking space and the pose information of the vehicle are calculated 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. The relative position of the vehicle and the target parking space is adjusted based on the vehicle's orientation angle relative to the target parking space, the vehicle's offset relative to the target parking space, and the vehicle's parking space stop line.

10. An automatic parking device for a mechanical parking space, characterized in that, The device includes: The vehicle information acquisition module is used to acquire environmental information of the vehicle's surroundings and the vehicle's position and orientation information. The mechanical parking space sensing module is used to identify mechanical parking spaces in the environment based on the environmental information and generate mechanical parking space sensing results corresponding to the mechanical parking spaces. The parking stage determination module is used to detect the parking status based on the mechanical parking space perception results and the pose information, and determine the corresponding parking stage of the vehicle during the parking process; The parking strategy determination module is used to process the parking space perception results and generate a parking strategy for the parking phase. The vehicle planning and control module is used to control the vehicle to park in the corresponding target mechanical parking space according to the parking strategy. The parking phase includes a parking space search phase, an entry phase, and a parking phase. The parking strategy determination module includes: The parking space information acquisition submodule is used to identify the mechanical parking space perception result if the vehicle is in the parking space search stage, obtain multiple mechanical parking spaces corresponding to the vehicle and the location information of the mechanical parking spaces, and compare the location information with a preset fixed offset to obtain the optimal observation parking space of the vehicle and the location information of the optimal observation parking space. The entry information acquisition submodule is used to identify the mechanical parking space perception result if the vehicle is in the entry stage, and obtain the target parking space where the vehicle is located and the first location information of the target parking space. The parking information acquisition submodule is used to identify the mechanical parking space perception result if the vehicle is in the parking stage, and obtain the target parking space where the vehicle is located and the second location information of the target parking space. The mechanical parking spaces include ramped parking spaces and non-rammed parking spaces. The location information of the optimal observation parking space includes at least the entrance height information of the optimal observation parking space. The parking space information acquisition submodule further includes: The entrance height calculation unit is used to perform piecewise regression processing on the optimal observed parking space if the optimal observed parking space is a ramp parking space, to obtain the ramp height estimate of the optimal observed parking space, and to use the ramp height estimate as the entrance height information of the optimal observed parking space; if the optimal observed parking space is a non-rammed parking space, the entrance height information of the optimal observed parking space is set to 0.

11. 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; When the processor executes a program stored in the memory, it implements the method as described in any one of claims 1-9.

12. A computer-readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method as described in any one of claims 1-9.

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