Automatic parking method, device and equipment of vehicle and storage medium

Abstract

The present disclosure provides an automatic parking method and device of a vehicle, an equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: determining an initial position corresponding to a target storage location to be parked into by a vehicle; controlling the vehicle to drive to the initial position; acquiring a first image of the surrounding environment of the vehicle when the vehicle is at the initial position; processing the first image to obtain a parking label corresponding to the vehicle; and controlling the vehicle to park into the target storage location according to a parking instruction associated with the parking label. Thus, the parking control of the vehicle is more accurate, the alignment accuracy of the vehicle and the target storage location is improved, the safety of parking in the target storage location is improved, the risk of collision or scratching of the hub of the vehicle and the mechanical storage location is reduced, the problem of difficult parking in the mechanical storage location is solved, and the requirements of the vehicle for computing power and sensors are low, which can be adapted to various new energy vehicle models.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automatic driving, and in particular to an automatic parking method and device of a vehicle, an equipment and a storage medium. BACKGROUND

[0002] The width of a general mechanical parking slot is between 2.0-2.1 meters. For a vehicle with a width close to 2 meters, after being parked in the middle, the distance on both sides is about 5 centimeters. A slight deviation will cause collision with the entrance or scratching of the hub. Therefore, the mechanical parking slot is a difficult problem for an automatic parking assistance system.

[0003] For a mechanical parking slot, it is generally believed that the accuracy of the parking slot map needs to reach the order of 5 centimeters to safely park. The traditional parking method is to construct a parking slot map by geometric modeling using a laser radar or vision. However, the accuracy is usually only in the order of 10-20 centimeters, which still has a certain risk of causing collision of the vehicle with the mechanical parking slot or scratching of the hub.

[0004] Therefore, how to improve the safety of automatic parking of a vehicle in a mechanical parking slot is a problem to be solved at present. SUMMARY

[0005] The present application provides an automatic parking method and device of a vehicle and a storage medium, which aims to at least solve one of the technical problems in the related art to some extent.

[0006] The first aspect of the present application provides an automatic parking method of a vehicle, comprising:

[0007] determining an initial position corresponding to a target parking slot to be parked into by a vehicle;

[0008] controlling the vehicle to travel to the initial position;

[0009] obtaining a first image of an environment around the vehicle when the vehicle is at the initial position;

[0010] processing the first image to obtain a parking label corresponding to the vehicle;

[0011] controlling the vehicle to park into the target parking slot according to a parking instruction associated with the parking label.

[0012] The second aspect of the present application provides an automatic parking device of a vehicle, comprising:

[0013] a first determining module configured to determine an initial position corresponding to a target parking slot to be parked into by a vehicle;

[0014] a first control module configured to control the vehicle to travel to the initial position;

[0015] an acquisition module configured to acquire a first image of an environment surrounding the vehicle when the vehicle is at the initial position;

[0016] a processing module configured to process the first image to obtain a parking label corresponding to the vehicle;

[0017] a second control module configured to control the vehicle to park into the target storage location according to a parking instruction associated with the parking label.

[0018] An electronic device is provided in a third aspect of the present disclosure, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the automatic parking method of the vehicle according to the embodiments of the present disclosure.

[0019] A non-transitory computer-readable storage medium storing computer instructions is provided in a fourth aspect of the present disclosure, and the computer instructions are used to enable the computer to perform the automatic parking method of the vehicle according to the embodiments of the present disclosure.

[0020] In the embodiments of the present disclosure, first, an initial position corresponding to a target storage location where a vehicle is to be parked is determined, then the vehicle is controlled to travel to the initial position, then a first image of an environment surrounding the vehicle when the vehicle is at the initial position is acquired, then the first image is processed to obtain a parking label corresponding to the vehicle, and then the vehicle is controlled to park into the target storage location according to a parking instruction associated with the parking label. Thus, the vehicle is controlled to park through the parking instruction corresponding to the initial position of the vehicle, so that the parking control of the vehicle is more accurate, the alignment accuracy of the vehicle and the target storage location is improved, and the safety of parking in the target storage location is improved, the risk of collision or scratching of the hub of the vehicle and the mechanical storage location is reduced, the problem of difficult parking in the mechanical storage location is solved, and in addition, the requirements of the vehicle on computing power and sensors are low, and the vehicle can be adapted to various new energy vehicle models.

[0021] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 is a flowchart of an automatic parking method of a vehicle according to a first embodiment of the present disclosure;

[0024] Figure 2is a physical scene schematic diagram of a mechanical garage parking space according to an embodiment of the present disclosure;

[0025] Figure 3 is a flow schematic diagram of an automatic parking method of a vehicle according to a second embodiment of the present disclosure;

[0026] Figure 4 shows a relative position schematic diagram of a vehicle and a target parking space;

[0027] Figure 5 shows a relative position schematic diagram of a predicted collision category being a left collision;

[0028] Figure 6 is a flow schematic diagram of an automatic parking method of a vehicle according to a third embodiment of the present disclosure;

[0029] Figure 7 is a schematic diagram of an automatic parking device of a vehicle according to an embodiment of the present disclosure;

[0030] Figure 8 is a block diagram of an electronic device for implementing an automatic parking method of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and cannot be understood as a limitation of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0032] As one possible application scenario, when a vehicle is parked in a mechanical parking space, a human driver usually aligns the vehicle in front of the parking space, and then only controls the throttle and brake to park the vehicle in the parking space. In actual operation, alignment (center axis alignment) is a technical difficulty of mechanical parking space parking. The human driver generally parks the vehicle in front of the parking space according to a rough target, and then adjusts the vehicle pose to achieve accurate alignment with the parking space by observing the relative position of the vehicle and the parking space in the rearview mirror. The automatic parking method of the vehicle proposed in the embodiments of the present disclosure can simulate this process of the human driver, and divide the parking of the mechanical parking space into two stages, one is the initial alignment stage of the vehicle and the parking space, and the other is the fine alignment stage, to solve the problem of vehicle parking in the mechanical parking space.

[0033] In the initial alignment stage, the vehicle can be first parked at an initial position at a certain distance in front of the mechanical parking space, at this time, the vehicle and the mechanical parking space are in a state of basic alignment, that is, the center axis of the vehicle and the center axis of the mechanical parking space can be approximately aligned. In the fine alignment stage, the vehicle pose can be adjusted to achieve accurate alignment with the parking space, and then the vehicle is parked in the parking space.

[0034] It should be noted that the execution subject of the automatic parking method of the vehicle in the embodiment can be an automatic parking device of the vehicle, which can be implemented in software and / or hardware, and can be configured in the vehicle.

[0035] In the embodiments of the present disclosure, the automatic parking method of the vehicle is executed by the "vehicle-machine system" as the execution subject, which is not limited here.

[0036] Figure 1 is a flowchart of the automatic parking method of the vehicle according to the first embodiment of the present disclosure. As shown in Figure 1 , the method comprises:

[0037] S101: Determine an initial position corresponding to a target parking space where the vehicle is to be parked.

[0038] The target parking space can be a parking space where the vehicle is to be parked.

[0039] Optionally, the target parking space can be a parking space selected by the user, or it can also be a parking space automatically selected by the vehicle through calculation, which is not limited here.

[0040] As a possible implementation, in the parking space selection stage, the user can select a parking space as the target parking space according to his own preference on the vehicle central screen. Alternatively, the target parking space can also be selected autonomously by the vehicle through the path planning module, for example, a parking space without a parked vehicle, no nearby obstacles, and close to the current position of the vehicle can be selected as the target parking space, which is not limited here.

[0041] In the embodiments of the present disclosure, the type of the target parking space can be a mechanical garage parking space, or it can also be other types of garage parking spaces, which are not limited here.

[0042] The mechanical garage parking space is a special type of garage parking space, which realizes the storage and retrieval of vehicles through mechanical devices. The mechanical garage parking space is usually composed of one or more vertically or horizontally moving platforms, which can lift, move and place the vehicle on a designated position. The parking space of the mechanical garage is usually strictly limited to a deep groove, and if the vehicle cannot be parked strictly in the center, it may cause the vehicle to collide with the entrance or scratch the hub.

[0043] As shown in Figure 2 ,Figure 2 Fig. 1 is a schematic diagram of a physical scene of a mechanical garage location.

[0044] Further, after obtaining the target location, the vehicle can calculate an initial position associated with the target location, and then take the initial position as an initial parking target to plan a reasonable path through the path planning module.

[0045] The initial position can be a position where the vehicle needs to be parked before parking in the target location.

[0046] It can be understood that if the vehicle is directly parked in the target location, there may be a collision or scratching of the hub. Therefore, an initial position close to the target location can be determined first, so that the vehicle can be parked in the initial position, and then further determine whether the vehicle can be safely parked in the target location.

[0047] As a possible implementation, an initial position can be selected in front of the target location, so that when the vehicle is in the initial position, it is close to the target location and maintains a certain distance between the target location. This is not limited here.

[0048] S102: Control the vehicle to drive to the initial position.

[0049] Optionally, a vehicle control system such as an automatic driving system or a remote control system can be used to control the vehicle to automatically drive. Specifically, sensors such as cameras, radars, and lidars can be used to monitor the surrounding environment in real time to avoid collisions and ensure safe driving. The vehicle automatically drives to the set initial position according to the navigation instructions or the instructions of the control system. During driving, the vehicle may need to comply with traffic rules and road signs.

[0050] It should be noted that controlling the vehicle to automatically drive to the initial position requires corresponding automatic driving technology and equipment, and the safety of the driving process must be ensured. In actual application, traffic regulations and safety regulations must be followed, and sufficient testing and verification must be performed to ensure the reliability and accuracy of the system.

[0051] As a possible implementation, the vehicle can be controlled to drive from any other position to the initial position based on an automatic parking assist system (APA).

[0052] It's important to note that Automatic Parking Assist (APA) is a modern vehicle safety and driver assistance technology designed to help drivers park more easily and accurately. APA utilizes onboard sensors (such as ultrasonic sensors or cameras) to detect the surrounding environment and obstacles, and uses specific algorithms and control systems to automatically control the vehicle's steering, acceleration, and braking to achieve automated parking. APA can help drivers perform more precise and efficient parking maneuvers in scenarios such as parallel parking, perpendicular parking, or reversing into a parking space.

[0053] It is understandable that driving the vehicle to the initial position can be considered an initial alignment process. At the initial position, the vehicle is directly in front of the parking space. However, when the vehicle is parked into the target parking space from the initial position, there is still a risk of collision with the parking space or scraping the wheel rim. Therefore, in this embodiment of the disclosure, the vehicle's state at the initial position is further analyzed to determine whether the vehicle can be safely parked in the target parking space.

[0054] S103: Acquire the first image of the environment surrounding the vehicle when it is in its initial position.

[0055] The first image can be a single image, multiple images, or a fused image of multiple images; no limitation is made here.

[0056] The first image is used to observe the relative positions of the target storage location and the vehicle.

[0057] It should be noted that multiple camera devices, such as fisheye cameras, can be pre-installed on the vehicle. For example, a fisheye camera can be installed at the front (direction of the vehicle's front), rear (direction of the vehicle's rear), left, and right sides of the vehicle, so that the front view, rear view, left view, and right view of the vehicle can be acquired from the initial position.

[0058] As one possible approach, if the vehicle is reversing (in the direction of its rear) into the target parking space, the rear view image can be used as the first image. Alternatively, the rear view image, left view image, and right view image can all be used as the first image. Alternatively, a fused image of the rear view image, left view image, and right view image can be used as the first image; no limitation is made here.

[0059] As another possible approach, if the vehicle is moving forward into the target parking space, the front view image can be used as the first image. Alternatively, the front view image, left view image, and right view image can all be used as the first image. Alternatively, a fused image of the front view image, left view image, and right view image can be used as the first image; no limitation is made here.

[0060] Optionally, the first image can further include a depth image captured by a depth camera and / or a laser point cloud image captured by a laser radar camera. Alternatively, the first image can further include an image captured by a normal camera and / or an image captured by a high dynamic range camera, which is not limited herein. In this way, more accurate and reliable perception of the target storage location can be achieved, and the accuracy of parking into the warehouse can be improved.

[0061] In the embodiments of the present disclosure, any one frame or multiple frames of images capable of reflecting the relative position between the target storage location and the vehicle can be used as the first image, and the acquisition method of the first image is not limited herein.

[0062] S104: processing the first image to obtain a parking label corresponding to the vehicle.

[0063] The parking label is used to indicate the parking manner in the target storage location. It should be noted that the parking label is determined based on the first image, and the first image is the image of the surrounding environment when the vehicle is in the initial position, and the first image includes information of the target storage location. Therefore, the parking label is generated for the relative position relationship between the target storage location and the vehicle.

[0064] In the embodiments of the present disclosure, the parking label can be classified into different categories to associate different indication information. For example, the parking label can be classified into a first category parking label, a second category parking label, and a third category parking label, which is not limited herein.

[0065] As one possible implementation, the first image can be input into a pre-trained neural network model to obtain the parking label corresponding to the vehicle. The neural network model can be a convolutional neural network, or other network structures can be selected, which is not limited herein.

[0066] Specifically, the first image can be first feature extracted to obtain the target image feature corresponding to the first image, and then the vehicle system can make a decision based on the target image feature to predict whether the vehicle will collide with the target storage location when driving into the target storage location, and further generate a corresponding processing strategy, i.e., the parking label. For example, if it is predicted that the vehicle will not collide with the target storage location when driving into the target storage location, a first category parking label can be generated; if it is predicted that the vehicle may collide with both sides of the target storage location when driving into the target storage location, a second category parking label can be generated; if it is predicted that the vehicle may collide with one side of the target storage location when driving into the target storage location, a third category parking label can be generated, which is not limited herein.

[0067] As another possible implementation manner, in the embodiments of the present disclosure, a pre-trained end-to-end decision planning network can be used to generate a parking label corresponding to the initial position of the vehicle according to the target image features, which is not limited herein.

[0068] S105: controlling the vehicle to park into the target storage location according to the parking instruction associated with the parking label.

[0069] The parking instruction can be a strategy for reminding the vehicle how to park. The parking instructions associated with parking labels of different categories can be different. For example, some parking instructions are to terminate parking, some parking instructions are to directly park into the target storage location, and some parking instructions are to control the vehicle to drive into the target storage location after aligning with the target storage location, etc., which are not limited herein.

[0070] Optionally, if the parking label belongs to the first category label, the parking instruction is determined to be directly parking into the target storage location, and the vehicle infotainment system can control the vehicle to park into the target storage location.

[0071] The first category label indicates that the vehicle does not collide when parking into the target storage location.

[0072] Specifically, if the parking label belongs to the first category label, it indicates that the size of the vehicle is suitable for the target storage location, and the vehicle can be normally parked into the target storage location without collision with the target storage location. The vehicle infotainment system can directly park the vehicle into the target storage location according to the parking instruction associated with the first category label. After parking into the target storage location, the vehicle infotainment system can output a parking termination signal and prompt the user.

[0073] Alternatively, if the parking label belongs to the second category label, the parking instruction is determined to be terminating parking.

[0074] The second category label indicates that the target storage location is not suitable for parking the vehicle.

[0075] Specifically, if the parking label belongs to the second category label, it indicates that the size of the vehicle is small and cannot be parked into the target storage location, otherwise, the vehicle will collide with both sides of the target storage location. At this time, the vehicle infotainment system can terminate parking according to the parking instruction, output a parking termination signal, and prompt the user.

[0076] In the embodiments of the present disclosure, first, the initial position corresponding to the target storage location to be parked into by the vehicle is determined, then the vehicle is controlled to travel to the initial position, then the first image of the environment around the vehicle at the initial position is obtained, then the first image is processed to obtain the parking label corresponding to the vehicle, and then the vehicle is controlled to park into the target storage location according to the parking instruction associated with the parking label. Thus, the vehicle is controlled to park through the parking instruction corresponding to the initial position of the vehicle, so that the parking control of the vehicle is more accurate and precise, the alignment accuracy of the vehicle and the target storage location is improved, and thus the safety of parking in the target storage location can be improved, the risk of collision or scratching of the hub of the vehicle and the mechanical storage location is reduced, the problem of difficult parking in the mechanical storage location is solved, and in addition, the requirements of the vehicle on computing power and sensors are low, and the vehicle can be adapted to various new energy vehicle models.

[0077] Figure 3 is a flowchart of an automatic parking method of a vehicle according to a second embodiment of the present disclosure. As shown in the figure, the method comprises the following steps. Figure 3

[0078] S201: determining the storage location position of the target storage location.

[0079] The storage location position can be the coordinate position of the target storage location in the world coordinate system.

[0080] Specifically, the vehicle machine system can detect the target storage location to locate the coordinate position of the target storage location in the world coordinate system. For example, positioning technologies such as global positioning system (GPS), wireless sensor network (WSN) or indoor positioning system (such as Bluetooth, Wi-Fi or ultrasonic positioning system) can be used to obtain accurate position information of the target storage location.

[0081] S202: determining the distance interval associated with the attribute information of the vehicle.

[0082] The attribute information of the vehicle can be the vehicle model, the size (such as length, width and height) of the vehicle, etc., which is not limited here.

[0083] The vehicle model can be a sedan, a small car, a micro car, a compact car, a medium car, a medium-large car, a large car, an SUV (sport utility vehicle), an MPV (multi-purpose vehicle), a sports car, etc., which is not limited here.

[0084] The distance interval can be a numerical interval corresponding to the distance between the target storage location and the vehicle.

[0085] ​It should be noted that the attribute information of different vehicles may be the same or different. For example, sedans and SUVs have different dimensions. Therefore, some parking spaces can be used for sedans but not for SUVs. In this embodiment, a mapping table between vehicle attribute information and distance ranges can be pre-established, so that the vehicle system can directly obtain the distance range to which the current vehicle belongs by reading the stored mapping table. Alternatively, the corresponding distance range can be directly configured in the vehicle.

[0086] For example, if the vehicle is a sedan, its corresponding distance range can be pre-set to 45cm-55cm, without any specific limitation. It should be noted that the corresponding distance range may differ for sedans of different sizes.

[0087] S203: Determine the initial position corresponding to the storage location based on the distance interval.

[0088] Optionally, you can first determine the edge line of the target storage space facing the vehicle, and the side line of the vehicle facing the target storage space, and then determine the angle between the centerline of the target storage space and the centerline of the vehicle.

[0089] like Figure 4 As shown, Figure 4 This diagram illustrates the relative positions of a vehicle and a target parking space. In parking spaces 1, 2, and 3, the vehicle is located directly in front of parking space 2, which is the vehicle's target parking space. Side A is the front side of parking space 2, and also its outer side. The vehicle can enter the target parking space from side A.

[0090] In this design, the centerline of the target parking space is k1, and the centerline of the vehicle is k2. The acute angle between k1 and k2 can be used as the angle between the centerline of the target parking space and the centerline of the vehicle. A represents the outermost side of the target parking space, i.e., the side facing the vehicle. The edge line corresponding to side A can be used as the edge line of the target parking space facing the vehicle. Figure 4 Since the rear of the vehicle is facing the target parking space, the edge line on one side of the rear of the vehicle can be used as the side line of the vehicle facing the target parking space.

[0091] Furthermore, if the distance between the vehicle side line and the edge line of the parking space is within the distance range and the included angle is less than a preset threshold when the vehicle is located at any position directly in front of the target parking space, then any position will be determined as the initial position corresponding to the parking space position.

[0092] The preset threshold can be the threshold for the included angle. It should be noted that if the included angle is less than the preset threshold, it means that the centerline of the vehicle and the centerline of the target parking space are basically aligned; otherwise, it means that there is a large deviation between the centerline of the vehicle and the centerline of the target parking space.

[0093] like Figure 4 As shown, h is the distance between the vehicle side line and the edge line of the parking space. For example, if the vehicle is a sedan and the corresponding distance range is 45cm-55cm, with a preset threshold of 45 degrees, if the vehicle is at position P, h equals 50cm, and the angle between k1 and k2 is 30 degrees, then the angle 30 degrees is less than the preset threshold of 45 degrees, and the distance of 50cm between the vehicle side line and the edge line of the parking space is within the distance range of 45cm-55cm. Therefore, position P can be used as the initial position corresponding to the parking space position, without further limitation.

[0094] S204: Control the vehicle to move to the initial position.

[0095] S205: Acquire a first image of the environment surrounding the vehicle when it is in its initial position.

[0096] It should be noted that the specific implementation methods of steps S204-S205 can be referred to the above embodiments, and will not be repeated here.

[0097] S206: Perform feature extraction on the first image to obtain the features of the target image.

[0098] The target image features can be the image features corresponding to the first image. The target image features can be represented in the form of feature vectors, which are not limited here.

[0099] Optionally, feature extraction algorithms can be used to extract features from the first image to obtain the target image features corresponding to the first image. Alternatively, the target image features corresponding to the first image can be obtained by inputting the first image into a backbone network.

[0100] S207: Input the target image features into a pre-built location adjustment decision network to obtain the predicted collision category and distance adjustment label.

[0101] The predicted collision category is the result of the position adjustment decision network's prediction of whether the vehicle will collide with the target parking space. For example, the predicted collision category can be "no collision", "collision on both sides", or "collision on one side", without any limitation.

[0102] It should be noted that "no collision" means that the vehicle will not collide with the edge of the target parking space when parking, "collision on both sides" means that the vehicle will collide with both sides of the target parking space when parking, and "collision on one side" means that the vehicle will collide with the left or right side of the target parking space when parking.

[0103] Furthermore, "one-sided collision" can be further divided into "left-side collision" and "right-side collision," which will not be specified here.

[0104] "Left-side collision" means that when a vehicle is parked in the target parking space, the left side of the vehicle will collide with the target parking space, while "right-side collision" means that when a vehicle is parked in the target parking space, the right side of the vehicle will collide with the target parking space.

[0105] like Figure 4 As shown, Figure 4 If the edge line k3 on one side of the target parking space intersects with the left side of the vehicle, it means that when the vehicle parks directly into the target parking space from its initial position, the left side of the vehicle will collide with the target parking space. The corresponding predicted collision category is "left side collision" under "one-sided collision".

[0106] The distance adjustment label can be a suggested offset distance. For example, if the predicted collision type is "left-side collision" and the distance adjustment label is 5cm, it means that if the vehicle offsets 5cm to the right, it may not collide with the target parking space; this is not a limitation.

[0107] Understandably, if the predicted collision type is "left-side collision," we can first determine that the left edge line of the target parking space passes through the left side of the vehicle, that is, intersects with the left side of the vehicle on the plane. Furthermore, the distance between this left edge line and the leftmost point of the vehicle can be used as the first distance. In other words, the vehicle's rightward offset distance needs to be at least greater than this first distance to avoid a collision with the left side of the target parking space.

[0108] like Figure 5 As shown, Figure 5 This is a relative positional diagram illustrating a predicted collision type of left-side collision. Here, m2 represents the straight line containing the left edge of the target parking space, intersecting the left side of the vehicle. Point e is the leftmost point of the vehicle, and the angle corresponding to point e is the left front angle of the vehicle. The distance from point e to m2 is the distance f between the straight lines m1 and m2 containing point e, where lines m1 and m2 are parallel. Therefore, the vehicle's rightward offset distance needs to be at least greater than this distance f to prevent the left side of the vehicle from colliding with the left side of the target parking space when parking. Therefore, the offset distance corresponding to the distance adjustment label can be set to a value slightly larger than distance f.

[0109] The position adjustment decision network is pre-trained and can reach a state of availability. The position adjustment decision network can be used to predict the optimal offset distance as the distance adjustment label and predict the collision between the vehicle and the target storage location under given input conditions.

[0110] Specifically, the position adjustment decision network can determine the state information of the current position of the vehicle, the position information of the target storage location, the environmental conditions, and the like through the target image features. Through learning of historical data and training samples, the position adjustment decision network can learn to infer the optimal offset distance (distance adjustment label) that should be taken by the vehicle at the initial position and the predicted collision category between the vehicle and the target storage location.

[0111] Optionally, the position adjustment decision network can be composed of multiple layers, including an input layer, a hidden layer, and an output layer. The input layer accepts target image feature information and passes it to the hidden layer for processing. The hidden layer uses an activation function and weight adjustment to calculate and generate an intermediate representation, which is then passed to the output layer. The training of the position adjustment decision network can use a supervised learning method to optimize parameters and adjust network weights using known inputs and corresponding correct outputs. Through a backpropagation algorithm, the network can gradually optimize its decision-making ability to make more accurate position adjustment decisions under similar conditions.

[0112] S208: input the target image features into the pre-constructed angle adjustment decision network to obtain an angle adjustment label.

[0113] The angle adjustment label can be a recommended optimal angle adjustment amount and an adjusted heading, such as adjusting the heading to the left and adjusting the heading to the left by 0.4 degrees, without limitation.

[0114] The angle adjustment decision network is pre-trained and can reach a state of availability. The angle adjustment decision network can be used to predict the optimal angle adjustment amount and the adjusted heading as the angle adjustment label under given input conditions.

[0115] Specifically, the angle adjustment decision network can determine the state information of the current position of the vehicle, the position information of the target storage location, the environmental conditions, and the like through the target image features. Through learning of historical data and training samples, the angle adjustment decision network can learn to infer the optimal angle adjustment amount and the adjusted heading that should be taken by the vehicle at the initial position.

[0116] Optionally, the angle adjustment decision network can consist of multiple layers, including an input layer, hidden layers, and an output layer. The input layer receives feature information from the target image and passes it to the hidden layer for processing. The hidden layer uses activation functions and weight adjustments to compute and generate intermediate representations, which are then passed to the output layer. The angle adjustment decision network can be trained using supervised learning methods, utilizing known inputs and corresponding correct outputs to optimize parameters and adjust network weights. Through backpropagation, the network can progressively optimize its decision-making ability, enabling it to make more accurate angle adjustment decisions in similar situations.

[0117] like Figure 5 As shown, Figure 5 In this context, 'r' represents the angle between the left edge of the target parking space and the left edge of the vehicle. The angle adjustment amount included in the angle adjustment label can be 'r', and the adjusted heading can be adjusted to the right; no specific restrictions are imposed here.

[0118] The parking label includes a predicted collision category, a distance adjustment label, and an angle adjustment label. In other words, the predicted collision category, the distance adjustment label, and the angle adjustment label can all be used as the label content in the parking label.

[0119] Optionally, if the predicted collision category is no collision, the parking label is the first category label.

[0120] Optionally, if the predicted collision category is a two-sided collision, the parking label is the second category label.

[0121] Optionally, if the predicted collision category is a side collision, the parking label is a third-category label.

[0122] S209: Control the vehicle to park in the target parking space according to the parking instructions associated with the parking tag.

[0123] It should be noted that the specific implementation method of step S209 can be referred to the above embodiments, and will not be repeated here.

[0124] In the embodiments of the present disclosure, first, the position of the target storage location is determined, then the distance interval associated with the attribute information of the vehicle is determined, and then based on the distance interval, the initial position corresponding to the position of the storage location is determined, and then the vehicle is controlled to travel to the initial position, then the first image of the environment around the vehicle at the initial position is obtained, feature extraction is performed on the first image to obtain target image features, then the target image features are input into the pre-constructed position adjustment decision network to obtain the predicted collision category and the distance adjustment label, then the target image features are input into the pre-constructed angle adjustment decision network to obtain the angle adjustment label, and finally, the vehicle is parked into the target storage location according to the parking instruction associated with the parking label. Therefore, the best position for the vehicle to observe the relative position relationship between the vehicle and the target storage location can be selected according to the attribute information of the vehicle, the reliability of the target image features can be ensured, and then the distance adjustment label, the angle adjustment label, and the predicted collision category of the vehicle can be accurately and reliably obtained based on the position adjustment decision network and the angle adjustment decision network, thereby improving the safety and reliability of parking in the warehouse.

[0125] Figure 6 is a flowchart of an automatic parking method of a vehicle according to a third embodiment of the present disclosure. As shown in the figure, the method comprises the following steps. Figure 6

[0126] S301: determining an initial position corresponding to a target storage location to be parked by a vehicle.

[0127] S302: controlling the vehicle to travel to the initial position.

[0128] S303: obtaining a first image of the environment around the vehicle at the initial position.

[0129] S304: processing the first image to obtain a parking label corresponding to the vehicle.

[0130] It should be noted that the specific implementation method of steps S301-S304 can refer to the above embodiments, which will not be described here.

[0131] S305: if the parking label belongs to the third category label, determining that the parking instruction is to control the vehicle to enter the target storage location after aligning with the target storage location.

[0132] It should be noted that if the parking label belongs to the third category label, the vehicle may collide with one side of the target storage location according to the predicted collision category in the parking label, and therefore in order to prevent the vehicle from colliding with one side of the target storage location, the pose of the vehicle can be adjusted to align the vehicle with the target storage location, and then the vehicle is controlled to enter the target storage location.

[0133] ​S306: based on the movement adjustment label contained in the parking label, control the vehicle to move to adjust the relative position of the vehicle and the target storage location.

[0134] The movement adjustment label contains at least a distance adjustment label and an angle adjustment label, and the movement adjustment label embodies the pose adjustment mode of the vehicle.

[0135] It should be noted that the angle adjustment label can be an angle adjustment value, such as 0 indicating no adjustment, a positive number indicating that the heading needs to be adjusted to the left, and a negative number indicating that the heading needs to be adjusted to the right. The distance adjustment label can be a distance adjustment value, such as 0 indicating no adjustment, a positive number indicating that the vehicle needs to be offset to the left, and a negative number indicating that the vehicle needs to be offset to the right.

[0136] For example, if the rear of the vehicle is facing the target storage location, the distance adjustment label is +4cm, and the angle adjustment label is +0.4 degrees, the vehicle system can plan a trajectory of driving forward and then reversing. Specifically, the first route is to drive forward to the left, and the second route is the corresponding reversing trajectory, so that when the vehicle reverses to the corresponding position in front of the target storage location, the heading is adjusted to the left by 0.4 degrees and the vehicle is offset to the left by 4cm. This is not limited.

[0137] It should be noted that the above example is only an illustrative description and does not limit the present disclosure.

[0138] S307: In response to determining that the vehicle is aligned with the target storage location, control the vehicle to enter the target storage location.

[0139] Optionally, in response to determining that the vehicle moves to the first position corresponding to the target storage location, the vehicle system can first obtain a second image of the environment around the vehicle when the vehicle is at the first position, and then process the second image to obtain the target parking label corresponding to the vehicle.

[0140] The first position can be a position to which the vehicle moves based on the parking indication adjusted by the third type of label.

[0141] The first position and the initial position need to satisfy the same condition. Referring to the steps in the above embodiments, if the angle between the center axis of the vehicle and the center axis of the target storage location is less than a preset threshold when the vehicle moves to the first position, and the distance between the vehicle side line and the storage location edge line is within the distance interval, it is indicated that the first position is the first position corresponding to the target storage location.

[0142] The second image can be an image of the environment around the vehicle collected by the vehicle when the vehicle is at the first position, and the second image is used to observe the relative position between the target storage location and the vehicle when the vehicle is at the first position.

[0143] The target parking label can be a parking label determined based on the second image.

[0144] It should be noted that the manner of obtaining the second image and the manner of obtaining the target parking label by processing the second image can refer to the above embodiments, and will not be described here.

[0145] Specifically, if the target parking label is the first type of label, it indicates that the vehicle and the target storage location are already positionally aligned.

[0146] Specifically, if the target parking label is the second type of label, the vehicle needs to be terminated, indicating that the vehicle cannot enter the target storage location.

[0147] Specifically, if the target parking label is the third type of label, the relative positions of the vehicle and the target storage location are adjusted based on the target parking label until the vehicle and the target storage location are aligned, and then the vehicle is controlled to park in the target storage location.

[0148] It should be noted that if the target parking label is the third type of label, the relative positions of the vehicle and the target storage location need to be adjusted based on the distance adjustment label and the angle adjustment label contained in the target parking label, so that the vehicle and the target storage location are aligned. If the vehicle and the target storage location are aligned, the vehicle can be directly controlled to park in the target storage location. If the vehicle cannot be aligned with the target storage location, the target storage location is too small, and the vehicle is controlled to terminate parking. If after adjusting the relative positions of the vehicle and the target storage location, the parking label corresponding to the vehicle is still the third type of label, the above steps need to be repeatedly executed until the final obtained parking label is the first type of label to control the vehicle to park in the target storage location, or until the final obtained parking label is the second type of label to control the vehicle to terminate parking.

[0149] In the embodiments of the present disclosure, first, the initial position corresponding to the target storage location where the vehicle is to be parked is determined, then the vehicle is controlled to drive to the initial position, then the first image of the environment around the vehicle at the initial position is obtained, then the first image is processed to obtain the parking label corresponding to the vehicle, then if the parking label belongs to the third type of label, it is determined that the parking instruction is to control the vehicle to enter the target storage location after alignment, then based on the movement adjustment label contained in the parking label, the vehicle is controlled to move to adjust the relative positions of the vehicle and the target storage location, and finally, in response to determining that the vehicle and the target storage location are positionally aligned, the vehicle is controlled to enter the target storage location. Thus, in the case that the vehicle may collide with a certain side of the target storage location, the vehicle can be controlled to move based on the movement adjustment label contained in the parking label to align the vehicle with the target storage location, thereby avoiding collision between the vehicle and the target storage location, achieving end-to-end adjustment, and parking the vehicle comfortably and accurately in the target storage location, solving the problem of difficult mechanical storage location parking.

[0150] Figure 7 is a schematic diagram of an automatic parking device of a vehicle according to another embodiment of the present disclosure. As shown in Figure 7 the automatic parking device 700 of the vehicle comprises:

[0151] a first determining module 710, configured to determine an initial position corresponding to a target storage location where a vehicle is to be parked;

[0152] a first control module 720, configured to control the vehicle to drive to the initial position;

[0153] an acquisition module 730, configured to acquire a first image of an environment around the vehicle when the vehicle is at the initial position;

[0154] a processing module 740, configured to process the first image to obtain a parking label corresponding to the vehicle;

[0155] a second control module 750, configured to control the vehicle to park in the target storage location according to a parking instruction associated with the parking label.

[0156] Optionally, the second control module 750 is specifically configured to:

[0157] if the parking label belongs to a first category label, determine that the parking instruction is to directly park in the target storage location, and control the vehicle to park in the target storage location, wherein the first category label indicates that the vehicle does not collide when parking in the target storage location;

[0158] or,

[0159] if the parking label belongs to a second category label, determine that the parking instruction is to terminate parking, wherein the second category label indicates that the target storage location is not available for parking the vehicle.

[0160] Optionally, if the parking label belongs to a third category label, the second control module 750 comprises:

[0161] a first determining unit, configured to determine that the parking instruction is to control the vehicle to drive into the target storage location after aligning with the target storage location;

[0162] a first control unit, configured to control the vehicle to move to adjust a relative position between the vehicle and the target storage location based on a movement adjustment label contained in the parking label;

[0163] a second control unit, configured to control the vehicle to drive into the target storage location in response to determining that the vehicle aligns with the target storage location,

[0164] wherein the movement adjustment label at least comprises a distance adjustment label and an angle adjustment label.

[0165] Optionally, the second control unit comprises:

[0166] The first acquisition sub-unit is configured to acquire a second image of the surrounding environment of the vehicle when the vehicle is at the first position corresponding to the target storage location in response to determining that the vehicle moves to the first position corresponding to the target storage location.

[0167] The second acquisition sub-unit is configured to process the second image to obtain a target parking label corresponding to the vehicle.

[0168] The determination sub-unit is configured to determine that the vehicle is aligned with the target storage location if the target parking label is the first type of label.

[0169] Optionally, the second acquisition sub-unit is further configured to:

[0170] If the target parking label is the third type of label, adjust the relative position of the vehicle and the target storage location based on the target parking label until the vehicle is aligned with the target storage location.

[0171] Control the vehicle to park in the target storage location.

[0172] Optionally, the first determination module 710 comprises:

[0173] The second determination unit is configured to determine a storage location of the target storage location.

[0174] The third determination unit is configured to determine a distance interval associated with attribute information of the vehicle.

[0175] The fourth determination unit is configured to determine an initial position corresponding to the storage location based on the distance interval.

[0176] Optionally, the fourth determination unit is specifically configured to:

[0177] Determine a storage edge line of the target storage location towards the vehicle and a vehicle side line of the vehicle towards the target storage location.

[0178] Determine an included angle between a center axis of the target storage location and a center axis of the vehicle.

[0179] If the distance between the vehicle side line and the storage edge line is within the distance interval and the included angle is less than a preset threshold when the vehicle is at any position in front of the target storage location, the any position is determined as the initial position corresponding to the storage location.

[0180] Optionally, the processing module 740 is specifically configured to:

[0181] perform feature extraction on the first image to obtain target image features;

[0182] input the target image features into a pre-constructed position adjustment decision network to obtain a predicted collision category and a distance adjustment label;

[0183] input the target image features into a pre-constructed angle adjustment decision network to obtain an angle adjustment label;

[0184] The parking label includes the predicted collision category, the distance adjustment label, and the angle adjustment label.

[0185] When the predicted collision category is no collision, the parking label is a first category label.

[0186] When the predicted collision category is two-side collision, the parking label is a second category label.

[0187] When the predicted collision category is one-side collision, the parking label is a third category label.

[0188] In the embodiments of the present disclosure, an initial position corresponding to a target storage location to be parked into by a vehicle is first determined, then the vehicle is controlled to travel to the initial position, then a first image of an environment around the vehicle at the initial position is obtained, then the first image is processed to obtain a parking label corresponding to the vehicle, and then the vehicle is controlled to park into the target storage location according to a parking instruction associated with the parking label. Thus, the vehicle is controlled to park through the parking instruction corresponding to the initial position, so that the parking control of the vehicle is more accurate, the alignment accuracy of the vehicle and the target storage location is improved, and the safety of parking in the target storage location is improved, the risk of collision or scratching of the hub of the vehicle and the mechanical storage location is reduced, the problem of difficult parking in the mechanical storage location is solved, and in addition, the requirements of the vehicle on computing power and sensors are low, and the vehicle can be adapted to various new energy vehicle models.

[0189] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, and a computer program product.

[0190] Figure 8 A block diagram of an exemplary computer device suitable for implementing the embodiments of the present application is shown. Figure 8 The displayed computer device 12 is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0191] As Figure 8As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 can include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 to the processing unit 16.

[0192] The bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration bus (e.g., an Accelerated Graphics Port, or AGP bus) and a local bus using any of a variety of bus architectures (e.g., Industrial Standard Architecture (ISA), Micro Channel Architecture (MCA), Enhanced ISA (EISA), Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus).

[0193] The computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the computer device 12 and includes both volatile and non-volatile media, removable and non-removable media.

[0194] The memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be provided for reading from and writing to non-removable, non-volatile magnetic media (e.g., a "hard drive"). Figure 8 Not shown is a removable memory (e.g., a floppy disk, a magnetic tape, etc.) that can be used for a removable storage drive.

[0195] Although Figure 8A disk drive, a floppy disk drive, a CD-ROM drive, a DVD-ROM drive, or other removable media drive, can be provided for reading from and writing to a removable n onvolatile magnetic disk (e.g., a "floppy disk"), and to a removable nonvolatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media). In these instances, each drive can be connected to the bus 18 by one or more data media interfaces. The memory 28 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

[0196] Program / utility 40, having a set (at least one) of program modules 42, can be stored in memory 28 by way of example, and can include an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof, can include implementation of a networking environment. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the application as described herein.

[0197] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard or a pointing device, a display 24, etc. and also with one or more devices that enable a user to interact with computer device 12 and / or any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication can occur via input / output (I / O) interface(s) 22. Still yet, computer device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or the Internet) through network adapter 20. As an example, network adapter 20 can include a modem, a network card (wireless or wired), or other well-known interface devices. As depicted, network adapter 20 communicates with the other

[0198] Processing unit(s) 16 can execute instructions and manipulate data stored in system memory 28 in order to perform various functions, including implementing the automatic parking method of a vehicle as described in the aforementioned embodiments.

[0199] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

[0200] It is to be understood that the application is not limited to the precise construction herein described and as shown in the attached drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

[0201] It should be noted that, in the description of the application, the terms "first", "second", and so on are used only for descriptive purposes and are not to be construed as indicating or implying relative importance. In addition, in the description of the application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0202] Any process or method described in flowchart form or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for performing specific logic functions or steps in the process, and the various embodiments of the application include additional implementations in which the functions described are performed in a different order, including substantially simultaneously, or in reverse order, and according to other embodiments of the application, as will be understood by those skilled in the art.

[0203] It should be understood that portions of the application can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, any of the following technologies known in the art or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits (ASICs) having appropriate combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0204] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium, and the program includes one or a combination of steps of the method embodiment when executed.

[0205] In addition, each function unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware, or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0206] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0207] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and are not to be construed as limiting the present application, and those of ordinary skill in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An automatic parking method of a vehicle, characterized by, The method comprises: determining an initial position corresponding to a target storage location where a vehicle is to be parked; controlling the vehicle to travel to the initial position; obtaining a first image of an environment surrounding the vehicle when the vehicle is at the initial position; processing the first image to obtain a parking label corresponding to the vehicle; controlling the vehicle to park in the target storage location according to a parking instruction associated with the parking label; wherein the determining of the initial position corresponding to the target storage location where the vehicle is to be parked comprises: determining a storage location of the target storage location; determining a distance interval associated with attribute information of the vehicle; determining the initial position corresponding to the storage location based on the distance interval; wherein the determining of the initial position corresponding to the storage location based on the distance interval comprises: determining a storage location edge line of the target storage location facing the vehicle and a vehicle side line of the vehicle facing the target storage location; determining an included angle between a center axis of the target storage location and a center axis of the vehicle; if, when the vehicle is at any position in front of the target storage location, a distance between the vehicle side line and the storage location edge line is within the distance interval and the included angle is less than a preset threshold, determining the any position as the initial position corresponding to the storage location.

2. The method of claim 1, wherein, The controlling of the vehicle to park in the target storage location according to the parking instruction associated with the parking label comprises: if the parking label belongs to a first category label, determining the parking instruction as direct parking in the target storage location, and controlling the vehicle to park in the target storage location, wherein the first category label indicates that the vehicle parking in the target storage location does not cause a collision; or, if the parking label belongs to a second category label, determining the parking instruction as terminating parking, wherein the second category label indicates that the target storage location is not available for parking the vehicle.

3. The method of claim 2, wherein, if the parking label belongs to a third category label, further comprising: determining the parking instruction as controlling the vehicle to enter the target storage location after aligning with the target storage location; controlling the vehicle to move based on a movement adjustment label included in the parking label, to adjust a relative position between the vehicle and the target storage location; controlling the vehicle to enter the target storage location in response to determining that the vehicle aligns with the target storage location, wherein the movement adjustment label at least includes a distance adjustment label and an angle adjustment label.

4. The method of claim 3, wherein, The controlling of the vehicle to enter the target storage location in response to determining that the vehicle aligns with the target storage location comprises: obtaining a second image of an environment surrounding the vehicle when the vehicle is at a first position corresponding to the target storage location in response to determining that the vehicle moves to the first position; processing the second image to obtain a target parking label corresponding to the vehicle; if the target parking label is the first category label, determining that the vehicle aligns with the target storage location.

5. The method of claim 4, wherein, After the processing of the second image to obtain the target parking label corresponding to the vehicle, the method further comprises: If the target parking label is the third category label, based on the target parking label, the relative position of the vehicle and the target storage location is adjusted until the vehicle is aligned with the target storage location; The vehicle is controlled to park in the target storage location.

6. The method of claim 1, wherein, The processing of the first image to obtain the parking label corresponding to the vehicle comprises: feature extraction is performed on the first image to obtain target image features; the target image features are input into a pre-constructed position adjustment decision network to obtain a predicted collision category and a distance adjustment label; the target image features are input into a pre-constructed angle adjustment decision network to obtain an angle adjustment label; wherein the parking label comprises the predicted collision category, the distance adjustment label and the angle adjustment label; in the case of no collision in the predicted collision category, the parking label is a first category label; in the case of two-side collision in the predicted collision category, the parking label is a second category label; in the case of one-side collision in the predicted collision category, the parking label is a third category label.

7. An automatic parking device for a vehicle, characterized by comprise: a first determination module configured to determine an initial position corresponding to a target storage location to be parked by a vehicle; a first control module configured to control the vehicle to travel to the initial position; an acquisition module configured to acquire a first image of an environment around the vehicle when the vehicle is at the initial position; a processing module configured to process the first image to obtain a parking label corresponding to the vehicle; a second control module configured to control the vehicle to park in the target storage location according to a parking instruction associated with the parking label; wherein the first determination module comprises: a second determination unit configured to determine a storage location of the target storage location; a third determination unit configured to determine a distance interval associated with attribute information of the vehicle; a fourth determination unit configured to determine an initial position corresponding to the storage location based on the distance interval; wherein the fourth determination unit is specifically configured to: determine a storage edge line of the target storage location facing the vehicle and a vehicle side line of the vehicle facing the target storage location; determine an included angle between a center axis of the target storage location and a center axis of the vehicle; if the vehicle is located at any position in front of the target storage location, the distance between the vehicle side line and the storage edge line is within the distance interval, and the included angle is less than a preset threshold, the any position is determined as the initial position corresponding to the storage location.

8. An electronic device comprising: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

9. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-6.

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