Intelligent driving method, device for intelligent driving and intelligent driving equipment

Abstract

The invention discloses an intelligent driving method and device and intelligent driving equipment, and the method comprises the steps: determining at least two types of temporary parking spaces according to the information of obstacles around the intelligent driving equipment and the information of the environment around the intelligent driving equipment; wherein the environment information comprises parking space information and / or road structure information, the at least two types of temporary parking spaces comprise a first type of parking spaces and a second type of parking spaces, the first type of parking spaces are parking spaces generated according to obstacle information, and the second type of parking spaces are parking spaces generated according to the parking space information and / or the road structure information; and controlling the intelligent driving equipment to park into the target temporary parking space, wherein the at least two types of temporary parking spaces comprise the target temporary parking space. The technical scheme of the invention can be applied to the field of intelligent vehicles such as electric vehicles and new energy vehicles, and can determine a more reasonable temporary parking position when the vehicle meets narrow road meeting, obstacle avoidance and other scenes, thereby improving the humanization and intelligence of the vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to an intelligent driving method, a device for intelligent driving, and an intelligent driving device. Background Art

[0002] With the rapid development of the automotive industry, a lot of assisted driving and autonomous driving technologies have emerged, which can reduce driving stress, improve safety and traffic efficiency. During the process of a vehicle driving in an autonomous driving mode or parking, narrow driving conditions such as narrow-road vehicle meeting and obstacle avoidance may be encountered. In the above scenarios, the automatic parking process may be terminated due to obstacles blocking, causing the vehicle to stay on the road and obstruct traffic.

[0003] In view of this, an intelligent driving solution that can improve vehicle flexibility is urgently needed to be developed. Summary of the Invention

[0004] This application provides an intelligent driving method, a device for intelligent driving, and an intelligent driving device. When the vehicle encounters scenarios such as narrow-road vehicle meeting and obstacle avoidance, it can determine a more reasonable temporary parking position, thereby improving the human-likeness and intelligence of the vehicle, and helping to reduce the probability of the vehicle being blocked by obstacles and obstructing traffic.

[0005] In a first aspect, an intelligent driving method is provided. This method can be executed by an intelligent driving device, or by a computing platform of the intelligent driving device, or by a chip or circuit provided in the computing platform. The method includes: determining at least two types of temporary parking spaces according to the obstacle information around the intelligent driving device and the environmental information around the intelligent driving device; where the environmental information includes parking space information and / or road structure information, and the at least two types of temporary parking spaces include at least one of a first type of parking space, a second type of parking space, and a third type of parking space. The first type of parking space is a parking space generated according to the obstacle information, the second type of parking space is a parking space generated according to the environmental information, and the third type of parking space is an empty parking space determined according to the parking space information; controlling the intelligent driving device to park into the target temporary parking space, and the at least two types of temporary parking spaces include the target temporary parking space.

[0006] In some implementation manners, the at least two types of temporary parking spaces include a first type of parking space and a second type of parking space.

[0007] In the above technical solution, various types of parking spaces can be determined as alternative parking spaces for the intelligent driving device to park temporarily according to the obstacle information and / or environmental information around the intelligent driving device, so that when the intelligent driving device is blocked by an obstacle during driving or parking, there can be more temporary parking options, and thus the obstacle can be avoided in a more flexible and human-like manner.

[0008] In combination with the first aspect, in some implementations of the first aspect, the method further includes: determining a first obstacle according to the obstacle information, where the first obstacle is the obstacle closest to the intelligent driving device in a first area, the first area is located directly in front of the intelligent driving device and / or the first area is located diagonally in front on the driver's side away from the intelligent driving device, or the first area is located directly behind the intelligent driving device and / or the first area is located diagonally behind on the driver's side away from the intelligent driving device; generating a first temporary parking space according to the first obstacle, the first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space is a first type of parking space.

[0009] In the above technical solution, determining the temporary parking space according to directly in front of or behind the vehicle, or diagonally in front or behind on the side away from the driver's seat helps to improve the human-likeness when the intelligent driving device avoids obstacles.

[0010] In combination with the first aspect, in some implementations of the first aspect, when the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

[0011] In the above technical solution, when the obstacle is a vehicle, making the central axis of the generated temporary parking space parallel to the central axis of the vehicle or the angle less than a certain threshold will make it smoother and more convenient for the intelligent driving device to park out after parking in the temporary parking space.

[0012] In some implementations, when the first obstacle is an obstacle other than a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the first temporary parking space and the central axis of the intelligent driving device is less than or equal to a certain angle threshold. In this way, it helps to reduce the difficulty of the intelligent driving device parking into the temporary parking space.

[0013] In combination with the first aspect, in some implementations of the first aspect, the distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the passenger seat of the intelligent driving device.

[0014] In the above technical solution, generating a temporary parking space closer to the passenger side according to the obstacle complies with traffic rules. When the intelligent driving device parks into the temporary parking space, it helps to reduce the obstruction to road traffic and also conforms to the habits of human drivers when choosing a temporary parking space.

[0015] In combination with the first aspect, in some implementations of the first aspect, the method further includes: determining a third road boundary based on the parking space information and / or the road structure information; generating a second temporary parking space according to the third road boundary, the second temporary parking space being in front of or behind the intelligent driving device, the second temporary parking space not overlapping or partially overlapping with the current position of the intelligent driving device, the distance between the second temporary parking space and the third road boundary being greater than or equal to a third distance threshold and less than a fourth distance threshold, and the second temporary parking space being a second type of parking space.

[0016] In the above technical solution, determining the temporary parking space according to the road boundary is similar to the habit of human drivers in choosing temporary parking spaces, which helps to improve the human-likeness and intelligence of the intelligent driving device.

[0017] In combination with the first aspect, in some implementations of the first aspect, the central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to a second angle threshold.

[0018] In the above technical solution, determining the pose of the temporary parking space according to the central axis of the intelligent driving device helps to reduce the difficulty of the intelligent driving device when parking into the temporary parking space.

[0019] In combination with the first aspect, in some implementations of the first aspect, the distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the passenger seat of the intelligent driving device.

[0020] In the above technical solution, generating a temporary parking space closer to the passenger side according to the road boundary complies with traffic rules. When the intelligent driving device parks into the temporary parking space, it helps to reduce the obstruction to road traffic and also conforms to the habit of human drivers when choosing temporary parking spaces.

[0021] In combination with the first aspect, in some implementations of the first aspect, determining at least two types of temporary parking spaces includes: determining at least two types of temporary parking spaces when the intelligent driving device meets an oncoming vehicle.

[0022] In some implementations, the target parking space can be used as the above-mentioned first obstacle.

[0023] In the above technical solution, during the oncoming vehicle process of the intelligent driving device, starting the intelligent driving method process of the present application helps to improve the intelligence and human-likeness of the intelligent driving device during the oncoming vehicle process, and improve the oncoming vehicle efficiency and safety.

[0024] In combination with the first aspect, in certain implementations of the first aspect, before controlling the intelligent driving device to park in the target temporary parking space, the method further includes: determining the target temporary parking space according to the blocking degree of each temporary parking space in at least two types of temporary parking spaces on the road where the intelligent driving device is located.

[0025] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: controlling a display device to display at least two types of temporary parking spaces.

[0026] Exemplarily, the display device may be a human-machine interface (HMI) of the intelligent driving device, or may also be other in-vehicle display screens.

[0027] In the above technical solution, by displaying at least two types of temporary parking spaces, it is possible to prompt the user that a temporary parking event is occurring, so as to improve the interactivity between the user and the intelligent driving device during the temporary parking process, which helps to improve the user's driving and riding experience.

[0028] In a second aspect, there is provided a device for intelligent driving. The device includes a determination unit for determining at least two types of temporary parking spaces according to obstacle information around the intelligent driving device and environmental information around the intelligent driving device; wherein the environmental information includes parking space information and / or road structure information, and at least one temporary parking space includes at least one of a first type of parking space, a second type of parking space, and a third type of parking space. The first type of parking space is a parking space generated according to the obstacle information, the second type of parking space is a parking space generated according to the parking space information and / or the road structure information, and the third type of parking space is an empty parking space determined according to the parking space information; a processing unit for controlling the intelligent driving device to park in the target temporary parking space, and the at least two types of temporary parking spaces include the target temporary parking space.

[0029] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is further configured to: determine a first obstacle according to the obstacle information, where the first obstacle is the obstacle closest to the intelligent driving device in a first area, and the first area is located in front of the intelligent driving device and / or the first area is located on the side in front of the driver's side away from the intelligent driving device, or the first area is located behind the intelligent driving device and / or the first area is located on the side behind the driver's side away from the intelligent driving device; the device further includes a generation unit for: generating a first temporary parking space according to the first obstacle, the first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space is a first type of parking space.

[0030] In combination with the second aspect, in some implementations of the second aspect, when the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to the first angle threshold.

[0031] In combination with the second aspect, in some implementations of the second aspect, the first obstacle is a vehicle traveling in a direction opposite to the traveling direction of the intelligent driving device.

[0032] In combination with the second aspect, in some implementations of the second aspect, the distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

[0033] In combination with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: determine a third road boundary according to the parking space information and / or the road structure information; the device further includes a generating unit, configured to: generate a second temporary parking space according to the third road boundary, the second temporary parking space is located in front of or behind the intelligent driving device, the second temporary parking space does not overlap or partially overlaps with the current position of the intelligent driving device, the distance between the second temporary parking space and the third road boundary is greater than or equal to a third distance threshold and less than a fourth distance threshold, and the second temporary parking space is a second type of parking space.

[0034] In combination with the second aspect, in some implementations of the second aspect, the central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to the second angle threshold.

[0035] In combination with the second aspect, in some implementations of the second aspect, the distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

[0036] In combination with the second aspect, in some implementations of the second aspect, the determining unit is further configured to: before the processing unit controls the intelligent driving device to park in the target temporary parking space, determine the target temporary parking space according to the blocking degree of each temporary parking space in at least two types of temporary parking spaces on the road where the intelligent driving device is located.

[0037] In combination with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the display device to display at least two types of temporary parking spaces.

[0038] In a third aspect, a device for intelligent driving is provided. The device includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device executes the method in any possible implementation manner of the first aspect.

[0039] In a fourth aspect, an intelligent driving device is provided. The intelligent driving device includes the device in any possible implementation manner of the second aspect or the third aspect.

[0040] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the intelligent driving device is a vehicle.

[0041] In a fifth aspect, a computer program product is provided. The computer program product includes: computer program code, which, when running on a computer, causes the computer to execute the method in any possible implementation manner of the first aspect.

[0042] It should be noted that the above computer program code can be stored in whole or in part on a first storage medium, where the first storage medium can be packaged together with the processor or separately packaged from the processor.

[0043] In a sixth aspect, a computer-readable medium is provided. The computer-readable medium stores instructions, which, when executed by a processor, cause the processor to implement the method in any possible implementation manner of the first aspect.

[0044] In a seventh aspect, a chip is provided. The chip includes a circuit for executing the method in any possible implementation manner of the first aspect. Description of the Drawings

[0045] Figure 1 is a functional block diagram of the intelligent driving device provided by an embodiment of the present application.

[0046] Figure 2 is a schematic diagram of the architecture of the intelligent driving system provided by an embodiment of the present application;

[0047] Figure 3 is a schematic flowchart of the intelligent driving method provided by an embodiment of the present application;

[0048] Figure 4 is a schematic diagram of the application scenario of the intelligent driving method provided by an embodiment of the present application;

[0049] Figure 5 is another schematic diagram of the application scenario of the intelligent driving method provided by an embodiment of the present application;

[0050] Figure 6It is another schematic flowchart of the intelligent driving method provided by the embodiments of the present application;

[0051] Figure 7 It is a schematic block diagram of the device for intelligent driving provided by the embodiments of the present application;

[0052] Figure 8 It is another schematic block diagram of the device for intelligent driving provided by the embodiments of the present application. Detailed implementation manners

[0053] To facilitate the understanding of the solutions of the embodiments of the present application, the concepts involved in the present application are introduced below:

[0054] Figure 1 It is a schematic functional block diagram of the intelligent driving device provided by the embodiments of the present application. As Figure 1 shown, the intelligent driving device 100 may include a sensing system 120, a display device 130, and a computing platform 150. Among them, the sensing system 120 may include several sensors for sensing information about the environment around the intelligent driving device 100. For example, the sensing system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. For another example, the sensing system 120 may further include an inertial measurement unit (IMU), a lidar, a millimeter wave radar, an ultrasonic radar, and one or more of a camera device. In the present application, the camera device may include, but is not limited to, a fish-eye camera and a wide-angle camera. The camera device may include a red, green and blue / infrared (RGB / IR) camera, or may also include a depth camera, such as a time of flight (TOF) camera, a binocular camera, a structured light camera, etc.

[0055] Some or all functions of the intelligent driving device 100 can be controlled by the computing platform 150. The computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can achieve certain functions through the logical relationship of hardware circuits, and the logical relationship of the hardware circuits is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may further include a memory for storing instructions, and some or all of the processors 151 to 15n can call the instructions in the memory to implement corresponding functions.

[0056] The display device 130 in the cockpit is mainly divided into two categories. The first category is the vehicle-mounted display screen; the second category is the projection display screen, such as a head up display (HUD). The vehicle-mounted display screen is a physical display screen and an important part of the vehicle-mounted infotainment system. Multiple display screens can be set in the cockpit, such as a digital instrument display screen, a central control screen, etc. Head-up display, also known as a head-up display system. It is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as a windshield). To reduce the driver's line of sight transfer time, avoid pupil changes caused by the driver's line of sight transfer, and improve driving safety and comfort. HUD, for example, includes a combined head-up display (combiner-HUD, C-HUD) system, a windshield head-up display (windshield-HUD, W-HUD) system, and an augmented reality head-up display system (augmented reality HUD, AR-HUD). The display device may also include a human machine interface (human machine interface, HMI) to prompt the user of the switching of the planning mode.

[0057] The intelligent driving device 100 may include an advanced driving assistant system (ADAS). ADAS uses a variety of sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.

[0058] In terms of logical functions, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the environment around the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidar, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0059] Under different levels of autonomous driving (L0 - L5), based on the information obtained by artificial intelligence algorithms and multiple sensors, ADAS can achieve different levels of autonomous driving assistance. The above levels of autonomous driving (L0 - L5) are based on the grading standards of the Society of Automotive Engineers (SAE). Among them, Level L0 is no automation; Level L1 is driving assistance; Level L2 is partial automation; Level L3 is conditional automation; Level L4 is highly automated; Level L5 is fully automated. For the tasks of monitoring road conditions and making responses at Levels L1 to L3, they are jointly completed by the driver and the system, and the driver needs to take over the dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into the role of a passenger. Currently, the functions that ADAS can achieve mainly include but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, traffic warning / braking at the front intersection, traffic warning / braking at the rear intersection, forward collision warning, lane departure warning, lane keeping assist, rear collision warning for the following vehicle, traffic sign recognition, traffic congestion assistance, highway assistance, etc. It should be understood that: the above various functions can have specific modes under different levels of autonomous driving (L0 - L5), and the higher the level of autonomous driving, the more intelligent the corresponding mode. For example, automatic parking can include auto parking assist (APA), remote parking assist (RPA), and auto valet parking (AVP), etc. For APA, the driver does not need to operate the steering wheel, but still needs the driver to monitor the status of the intelligent driving device in real time on the intelligent driving device; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the intelligent driving device outside the intelligent driving device; for AVP, the intelligent driving device can complete parking without the driver. In terms of the corresponding levels of autonomous driving, APA is approximately at the level of L2, RPA is approximately at the level of L2 - L3, and AVP is approximately at the level of L4.

[0060] In the embodiment of the present application, the computing platform 150 can generate multiple temporary parking spaces according to the obstacle information obtained by the perception system 120, and display the multiple temporary parking spaces to the user through the display device. Further, the computing platform 150 can select a temporary parking space from the multiple temporary parking spaces and control the intelligent driving device to park into the temporary parking space.

[0061] The intelligent driving devices involved in the embodiments of the present application may include on-road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense and may be a transportation vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a lawn mower, a harvester, etc.), a recreational equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle. For ease of understanding, the following takes the intelligent driving device as a vehicle as an example for illustration.

[0062] Figure 2 Fig. shows a schematic diagram of the intelligent driving system architecture provided by the embodiments of the present application. As Figure 2 shown, the system includes a perception module 210, a planning and control module 220, a prompting module 230, and an actuator 240. Among them, the perception module 210 may include Figure 1 one or more sensors in the perception system 120 as shown, the planning and control module 220 may respectively include Figure 1 one or more processors in the computing platform 150 as shown, and the prompting module 230 may include Figure 1 one or more in the display device 130 as shown. The planning and control module 220 includes a temporary parking space generation module 221 and a temporary parking path planning module 222. The temporary parking space generation module 221 may generate one or more temporary parking spaces according to the perception results of the perception module 210. The temporary parking path planning module 222 may select a target temporary parking space from the above one or more temporary parking spaces and plan the driving path of the vehicle from the current position to the target temporary parking space. The temporary parking path planning module 222 may also calculate the corresponding control quantity according to the planned driving path and output the above control quantity to the actuator 240. When the actuator 240 executes the control quantity, it controls the vehicle to drive according to the planned path. In some possible implementation manners, the actuator may include a steering and braking control system in the intelligent driving device 100. In addition, the temporary parking space generation module 221 may also send the information of the generated one or more temporary parking spaces to the parking space display module 231 in the prompting module 230, so that the parking space display module 231 displays the one or more temporary parking spaces.

[0063] More specifically, the camera device in the perception module 210 may acquire images around the vehicle, and the detection sensors (such as lidar, millimeter wave radar) in the perception module 210 detect obstacle information around the vehicle. Further, the perception module 210 sends the images around the vehicle and / or the detected obstacle information around the vehicle to the temporary parking space generation module 221.

[0064] The temporary parking space generation module 221 can process images, determine the visual parking spaces around the vehicle based on the parking line information, and determine one or more available parking spaces from the visual parking spaces as temporary parking spaces. The available parking space can be understood as a parking space not occupied by obstacles and / or not invaded by obstacles; the temporary parking space generation module 221 can also generate n temporary parking spaces according to the visual parking spaces. In addition, the temporary parking space generation module 221 can also generate m temporary parking spaces between the obstacles adjacent to the vehicle and the vehicle according to the obstacle information around the vehicle. Further, the information of the temporary parking spaces determined and / or generated by the temporary parking space generation module 221 is respectively sent to the temporary parking path planning module 222 and the parking space display module 231, so that the temporary parking path planning module 222 selects a parking space from the temporary parking spaces as the target temporary parking space, and the parking space display module 231 can display the information of the temporary parking spaces.

[0065] It should be understood that the above modules are only an example. In actual applications, the above modules may be added or deleted according to actual needs. For example, Figure 2 In the system architecture shown in, the temporary parking space generation module 221 and the temporary parking path planning module 222 can be combined into one module.

[0066] The above combination of Figure 1 and Figure 2 introduces the intelligent driving system provided by the present application. The intelligent driving method provided by the present application is introduced in detail below.

[0067] Figure 3 shows a schematic flowchart of the intelligent driving method provided by an embodiment of the present application. Figure 3 The method 300 shown can be executed by Figure 1 the intelligent driving device 100 shown, for example, it can be executed by the computing platform 150; or the method 300 can also be executed by Figure 2 the system shown. Specifically, the method 300 can include some or all of the steps from S310 to S370.

[0068] S310, obtain the images around the vehicle collected by the imaging device, and determine M visual parking spaces according to the images.

[0069] Exemplarily, the imaging device may include one or more imaging devices in the sensing system 120. For example, the imaging device may include one or more of the following: front view camera, rear view camera, side view camera.

[0070] Exemplarily, the above image includes multiple fish-eye images. Determining M visual parking spaces based on the image may include: performing inverse perspective mapping (IPM) on the multiple fish-eye images and then stitching them together, detecting the stitched image, and extracting M visual parking spaces based on features such as parking lines, parking corner points, and parking opening edges. Wherein, M is an integer greater than or equal to 1.

[0071] In some implementation manners, if there are no visual parking spaces in the image, the road boundary of the road on which the vehicle is traveling can also be determined based on the image. For example, the road boundary determined based on the road shoulder (such as a hard shoulder or a soft shoulder) in the image, or it can also be the road boundary determined based on the green belt or the isolation belt in the image.

[0072] S320, obtain obstacle information around the vehicle.

[0073] Exemplarily, the obstacle information can be collected by the detection sensors of the vehicle. The detection sensors can, for example, include various radar sensors, or can also include infrared sensors, etc.

[0074] S330, select N available parking spaces from the M visual parking spaces as temporary parking spaces according to the obstacle information.

[0075] Exemplarily, when an obstacle invades a visual parking space, that is, when the position of the obstacle overlaps with the position of the visual parking space, it is determined that the visual parking space is an unavailable parking space; otherwise, it is determined that the parking space is an available parking space. Wherein, N can be an integer greater than or equal to 0.

[0076] For example, as shown in (a) of Figure 4 , assuming that vehicle 11 enters from the entrance gate 12 and during the parking cruise in the parking lot, the image of area 16 can be obtained. Based on the image of area 16, it is determined that there are four visual parking spaces, and then it is determined that there are no available parking spaces according to the obstacle information.

[0077] S340, generate P temporary parking spaces based on the M visual parking spaces and / or the road boundary.

[0078] Wherein, P can be an integer greater than or equal to 1.

[0079] In some implementation manners, the road boundary 1 can be determined based on the visual parking spaces and / or the road structure information, and then one temporary parking space is generated in front of and behind the vehicle respectively based on the road boundary 1. The minimum distance between the temporary parking space and the road boundary 1 is greater than or equal to distance threshold 1 and less than distance threshold 2. The minimum distance between the temporary parking space and the road boundary can be understood as: the distance between the nearest side or corner point of the temporary parking space from the road boundary and the road boundary.

[0080] Exemplarily, the temporary parking space may partially overlap or not overlap with the current position of the vehicle. For example, in the direction parallel to the central axis of the vehicle, the distance between each of the P temporary parking spaces and the vehicle may be greater than or equal to a preset threshold. For example, the preset threshold may be 15 cm or 20 cm.

[0081] Exemplarily, the distance threshold 1 may be 5 cm or 10 m, or it may also be other values; the distance threshold 2 may be 20 cm, or 30 cm, or it may also be other values. In specific implementation, the distance threshold 2 may be determined according to the width of the road where the vehicle is currently located.

[0082] In some implementation manners, the central axis of any one of the P temporary parking spaces may be parallel to the road boundary 1, or the central axis of any one of the P temporary parking spaces may also be parallel to the central axis of the vehicle.

[0083] In the embodiments of the present application, the central axis of the temporary parking space may be a straight line passing through the center point of the temporary parking space and parallel to the longer side of the temporary parking space.

[0084] In some implementation manners, the distance between the road boundary 1 and the driver's seat of the vehicle is greater than the distance between the road boundary 1 and the co-driver's seat of the vehicle. That is to say, when the vehicle is a left-hand drive vehicle, the road boundary 1 may be the road boundary on the right side of the vehicle; when the vehicle is a right-hand drive vehicle, the road boundary 1 may be the road boundary on the left side of the vehicle.

[0085] For example, as Figure 4 shown in (a), when the vehicle 11 is a left-hand drive vehicle, the road boundary a may be determined according to the visual parking space in the area 16, and then a temporary parking space 18 is generated in front of the vehicle 11. The minimum distance between the temporary parking space 18 and the road boundary a is greater than or equal to the distance threshold 1 and less than the distance threshold 2.

[0086] For another example, as Figure 4 shown in (b), when the vehicle 11 is a right-hand drive vehicle, the road boundary b may be determined according to the wall 15, and then a temporary parking space c' and a temporary parking space d are generated in front of and behind the vehicle respectively. The minimum distances between the temporary parking space c' and the temporary parking space d and the road boundary b (i.e., the wall 15) are both greater than or equal to the distance threshold 1 and less than the distance threshold 2. In addition, in the direction parallel to the central axis of the vehicle, the distances between the temporary parking space c' and the vehicle 11, and between the temporary parking space d and the vehicle 11 are both b. Since the position of the temporary parking space c' coincides with that of the vehicle 14, the pose of the temporary parking space c' can be adjusted to the temporary parking space c according to the position of the vehicle 14 so that the generated temporary parking space c is in a parkable state.

[0087] S350 determines at least one obstacle adjacent to the vehicle based on the obstacle information, and generates Q temporary parking spaces according to the at least one obstacle.

[0088] Wherein, Q can be an integer greater than or equal to 1.

[0089] Exemplarily, the at least one obstacle may include the obstacle closest to the vehicle, or may further include the obstacle closest to the vehicle in the driving direction of the vehicle; or may further include the obstacle closest to the vehicle in the front side or rear side of the vehicle.

[0090] In some implementation manners, the distance between each of the Q temporary parking spaces and road boundary 2 is greater than its distance from road boundary 3. Wherein, road boundary 2 is the boundary adjacent to the driver's seat of the vehicle, and road boundary 3 is the boundary adjacent to the co-driver's seat of the vehicle. The distance between the temporary parking space and the road boundary may be the distance between the center point of the temporary parking space and the road boundary, or may also be the distance between the central axis of the temporary parking space and the road boundary.

[0091] Exemplarily, when the vehicle is a left-hand drive vehicle, road boundary 2 is the left boundary of the vehicle driving road, and road boundary 3 is the right boundary of the vehicle driving road; when the vehicle is a right-hand drive vehicle, road boundary 2 is the right boundary of the vehicle driving road, and road boundary 3 is the left boundary of the vehicle driving road.

[0092] In some implementation manners, if there is an obstacle in front of / on the front side (or behind / on the rear side) of the vehicle, then according to the obstacle closest to the vehicle in front of / on the front side of the vehicle, 1 temporary parking space is generated between the obstacle and the vehicle. Exemplarily, the above front side (or rear side) may be the front side (or rear side) away from the driver's seat of the vehicle.

[0093] In one example, as Figure 4 shown in (a) of, there is a parked vehicle 14 in front of the left side of vehicle 11, and the presence of vehicle 13 and vehicle 14 hinders vehicle 11 from continuing to move forward. If vehicle 11 is a left-hand drive vehicle, then vehicle 11 may use vehicle 13 located at position 13' (hereinafter referred to as vehicle 13') as the closest neighbor obstacle, and generate a temporary parking space 17 between vehicle 13' and vehicle 11. The distance between the temporary parking space 17 and vehicle 13' is greater than or equal to distance threshold 3 and less than distance threshold 4.

[0094] In another example, as Figure 4As shown in (b) thereof, if vehicle 11 is a right-hand drive vehicle, vehicle 11 can also use vehicle 14 as the nearest neighbor obstacle and generate a temporary parking space 19 between vehicle 14 and vehicle 11. Further, the pose of the temporary parking space 18 can also be adjusted according to the pose of vehicle 14. For example, the pose of the temporary parking space 19 can be adjusted to the temporary parking space 19' so that the central axis of the temporary parking space 19' is parallel to the central axis of vehicle 14.

[0095] In some implementation manners, there is a nearest neighbor obstacle in front of and behind the vehicle respectively, and a temporary parking space is generated between the vehicle and the nearest neighbor obstacle respectively.

[0096] As Figure 5 As shown in (a) thereof, taking vehicle 21 and vehicle 22 both being left-hand drive vehicles as an example, during the process of vehicle 21 driving on the road, there is a driving vehicle 22 in front of it, a pedestrian 23 behind it, and multiple parked vehicles 24 on its right side. During the process of vehicle 21 meeting vehicle 22, due to the existence of multiple vehicles 24, the available driving space of vehicle 21 is small. At this time, as Figure 5 As shown in (b) thereof, vehicle 21 can generate a temporary parking space 25 between vehicle 21 and vehicle 22 and a temporary parking space 26 between vehicle 21 and the pedestrian 23 according to the positions of vehicle 22 and the pedestrian 23. Among them, the distance between the temporary parking space 25 and vehicle 22 is greater than or equal to the distance threshold 3 and less than the distance threshold 4; the distance between the temporary parking space 26 and vehicle 22 is greater than or equal to the distance threshold 3 and less than the distance threshold 4. In addition, the positions of the temporary parking spaces 25 and 26 can also meet the following conditions: the distance from the roadside visual parking space is greater than or equal to the distance threshold 1 and less than the distance threshold 2. Or, the positions of the temporary parking spaces 25 and 26 can also meet the following conditions: the distance from the right road boundary of vehicle 21 is less than the distance from the left road boundary of vehicle 21.

[0097] S360, control the display device to display at least one temporary parking space.

[0098] Among them, at least one temporary parking space includes at least one of the following: N available parking spaces, P temporary parking spaces, or Q temporary parking spaces.

[0099] In one example, when there is no available visual parking space, the display device can only display P temporary parking spaces and / or Q temporary parking spaces. When there are no obstacles in front of, behind, diagonally in front of, or diagonally behind the vehicle such that Q temporary parking spaces are not generated, the display device can only display N available parking spaces and / or P temporary parking spaces.

[0100] S370, determine a target temporary parking space from at least one temporary parking space, and control the vehicle to park in the target temporary parking space.

[0101] It should be noted that, in actual implementation, one or more of S330, S340, and S350 can be executed according to the situation.

[0102] The intelligent driving method provided by the embodiment of the present application determines various types of parking spaces as alternative parking spaces when the intelligent driving device temporarily parks, so that when the intelligent driving device is blocked by an obstacle during driving or parking, the obstacle can be avoided in a more flexible and human-like manner.

[0103] Figure 6 Another exemplary flowchart of the intelligent driving method provided by the embodiment of the present application is shown. This method 600 can be executed by Figure 1 the intelligent driving device 100 shown, for example, it can be executed by the computing platform 150; or the method 600 can also be executed by Figure 2 the system shown. Specifically, this method 600 can include S610 and S620.

[0104] S610, determine at least two types of temporary parking spaces according to the obstacle information around the intelligent driving device and the environmental information around the intelligent driving device; wherein, the environmental information includes parking space information and / or road structure information. The at least two types of temporary parking spaces include the first type of parking space and the second type of parking space. The first type of parking space is a parking space generated according to the obstacle information, and the second type of parking space is a parking space generated according to the environmental information.

[0105] Exemplarily, the obstacle information can be collected by the detection sensors of the intelligent driving device. The detection sensors can include various radar sensors, for example, or can also include infrared sensors, etc. The parking space information and / or road structure information can be determined according to the image collected by the imaging device of the intelligent driving device. This image can include the image in method 300. The parking space information can indicate the M visual parking spaces in method 300, and the road structure information can indicate the road boundary of the road on which the intelligent driving device travels.

[0106] Exemplarily, the first type of parking space includes the Q temporary parking spaces in the above embodiment; the second type of parking space includes the P temporary parking spaces in the above embodiment.

[0107] In some implementations, the method includes: determining a first obstacle according to obstacle information, where the first obstacle is the obstacle closest to the intelligent driving device in a first area, the first area is located directly in front of the intelligent driving device and / or the first area is located in the front side adjacent to the driver's side away from the intelligent driving device, or the first area is located directly behind the intelligent driving device and / or the first area is located in the rear side adjacent to the driver's side away from the intelligent driving device; generating a first temporary parking space according to the first obstacle, the first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space is a first type of parking space.

[0108] Exemplarily, the first distance threshold may be the distance threshold 3 in the above embodiments, and the second distance threshold may be the distance threshold 4 in the above embodiments.

[0109] In some implementations, when the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the included angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

[0110] Exemplarily, the first angle threshold may be 5 degrees (°), or it may also be 3°, or it may also be other values.

[0111] In some implementations, the distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

[0112] Exemplarily, the first road boundary may be the road boundary 2 in the above embodiments, and the second road boundary may be the road boundary 3 in the above embodiments.

[0113] Exemplarily, the first obstacle may include Figure 4 the vehicle 13' and vehicle 14 shown in Figure 5 and any one of the vehicle 22 and pedestrian 23 shown in

[0114] In some implementations, the method further includes: determining a third road boundary based on the parking space information and / or the road structure information; generating a second temporary parking space according to the third road boundary, the second temporary parking space being in front of or behind the intelligent driving device, the second temporary parking space not overlapping or partially overlapping with the current position of the intelligent driving device, the distance between the second temporary parking space and the third road boundary being greater than or equal to a third distance threshold and less than a fourth distance threshold, and the second temporary parking space being a second type of parking space.

[0115] In some implementations, the distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

[0116] Exemplarily, the third distance threshold may be the distance threshold 1 in the above embodiments, and the fourth distance threshold may be the distance threshold 2 in the above embodiments. The third road boundary may be the road boundary 1 above.

[0117] In some implementations, the central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the included angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to a second angle threshold.

[0118] Exemplarily, the second angle threshold may be 5°, or it may also be 3°, or it may also be other values.

[0119] Exemplarily, the second temporary parking space may respectively include any one of the following: Figure 4 the shown parking space 18, parking space c, parking space d, and Figure 5 the shown parking space 25, parking space 26.

[0120] S620, controlling the intelligent driving device to park into the target temporary parking space, and at least two types of temporary parking spaces include the target temporary parking space.

[0121] In some implementations, when the intelligent driving device meets an oncoming vehicle with a target vehicle, the method 600 is executed. Exemplarily, the target vehicle may be Figure 5 the shown vehicle 22.

[0122] In some implementations, at least two types of temporary parking spaces further include a third type of parking space, and the third type of parking space is an empty parking space determined according to the parking space information. Exemplarily, the third type of parking space includes the N available parking spaces in the above embodiments.

[0123] In some implementations, the method further includes: controlling a display device to display at least two types of temporary parking spaces.

[0124] In some implementations, before controlling the intelligent driving device to park in the target temporary parking space, the method further includes: determining the target temporary parking space according to the blocking degree of each temporary parking space in at least two types of temporary parking spaces on the road where the intelligent driving device is located.

[0125] Exemplarily, the blocking degree of a temporary parking space on the road where the intelligent driving device is located can be determined according to the position of the temporary parking space on the road. For example, the closer the temporary parking space is to the center of the road, the higher the determined blocking degree of it is. Further, the one with the lowest blocking degree among at least two types of temporary parking spaces is determined as the target temporary parking space.

[0126] The intelligent driving method provided by the embodiments of the present application can determine a more reasonable temporary parking position in scenarios such as narrow road meeting and obstacle avoidance of a vehicle, thereby improving the humanity and intelligence of the vehicle, and helping to reduce the probability that the vehicle hinders traffic due to being detained by obstacles.

[0127] In various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions among the various embodiments are consistent and can be referenced mutually. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0128] As described above in conjunction with Figures 1 to 6 the rearview mirror detection method provided by the embodiments of the present application is described in detail. Next, in conjunction with Figure 7 and Figure 8 the rearview mirror detection device provided by the embodiments of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, the content not described in detail can be referred to the above method embodiment. For the sake of brevity, it will not be repeated here.

[0129] Figure 7 Fig. shows a schematic block diagram of a device 2000 for intelligent driving provided by an embodiment of the present application. The device 2000 may include units for executing method 300 or method 600. And, each unit in the device 2000 is for implementing the corresponding processes in the embodiments of method 300 and method 600.

[0130] The device 2000 includes a determination unit 2010 and a processing unit 2020, and can be used to implement corresponding processing functions, such as determining at least two types of temporary parking spaces and controlling the intelligent driving device to park in the target temporary parking space.

[0131] Optionally, the device 2000 may further include a transceiver unit, which can be used to implement corresponding transceiver functions, such as obtaining obstacle information, and parking space information and / or road structure information around the intelligent driving device.

[0132] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2010 can read the instructions and / or data in the storage unit to enable the device to implement the relevant actions in the foregoing method embodiments.

[0133] It should be understood that the specific processes of each unit executing the above corresponding steps have been described in detail in the foregoing method embodiments. For example, the method for determining at least one temporary parking space, etc. For the sake of brevity, it will not be elaborated here.

[0134] Exemplarily, the determination unit 2010 and the processing unit 2020 can be arranged in Figure 2 the system shown. More specifically, the above determination unit 2010 and processing unit 2020 can be arranged in the regulation and control module 220. More specifically, the determination unit 2010 can be arranged in the temporary parking space generation module 221, and the processing unit 2020 can be arranged in the temporary parking path planning module 222. Exemplarily, the operations performed by the above determination unit 2010 and processing unit 2020 can be executed by one processor, or can also be executed by different processors. In the specific implementation process, the above one or more processors can be the processors arranged in Figure 1 the intelligent driving device 100 shown; or, the above device 2000 can be a chip arranged in the intelligent driving device 100.

[0135] In the specific implementation process, each unit in the above device can be integrated in whole or in part, or can also be independently implemented. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0136] Figure 8 is another schematic block diagram of the device for intelligent driving provided by the embodiments of the present application. Figure 8 The device 2100 shown can include: a processor 2110, a transceiver 2120, and a memory 2130. Among them, the processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 through an interface or integrated with the processor 2110.

[0137] It should be noted that the above transceiver 2120 can include, but is not limited to, a transceiver device such as an input / output interface to implement the communication between the device 2100 and other devices or communication networks.

[0138] The memory 2130 can be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM). For example, the RAM can be used as an external cache. By way of example and not limitation, the RAM includes the following various forms: static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0139] The transceiver 2120 uses a transceiver device such as, but not limited to, a transceiver to implement the communication between the device 2100 and other devices or communication networks, so as to receive / transmit data / information for implementing the methods in the above various embodiments.

[0140] An embodiment of the present application further provides a computing platform, which includes the device 2000 or the device 2100 in the above embodiment.

[0141] An embodiment of the present application further provides an intelligent driving device, which includes the computing platform in the above embodiment; or, the intelligent driving device includes the device 2000 or the device 2100 in the above embodiment.

[0142] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above various embodiments of the present application.

[0143] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions run on a computer, the computer implements the methods in the above various embodiments of the present application.

[0144] An embodiment of the present application further provides a chip, including a circuit for executing the methods in the above various embodiments of the present application.

[0145] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0146] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B; herein, "and / or" is an association relationship describing associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In the present application, "at least one" means one or more, and "a plurality" means two or more. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single (item) or plural items (items). For example, at least one (item) of a, b, or c may represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c may be single or multiple.

[0147] In the embodiments of the present application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity, or content of the described objects, etc. In the embodiments of the present application, the use of ordinal words and other prefix words for distinguishing described objects does not constitute a restriction on the described objects. The description of the described objects refers to the description in the context of the claims or embodiments, and should not constitute unnecessary restrictions due to the use of such prefix words.

[0148] In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0149] In the various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0150] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, each functional unit in various embodiments of the present application may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit.

[0152] As described above, only the specific implementation manners of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An intelligent driving method, characterized in that, including: determining at least two types of temporary parking spaces according to obstacle information around the intelligent driving device and environmental information around the intelligent driving device; wherein the environmental information includes parking space information and / or road structure information; the at least two types of temporary parking spaces include a first type of parking space and a second type of parking space, the first type of parking space is a parking space generated according to the obstacle information, and the second type of parking space is a parking space generated according to the environmental information; controlling the intelligent driving device to park into a target temporary parking space, and the at least two types of parking spaces include the target temporary parking space.

2. The method according to claim 1, wherein The method further includes: determining a first obstacle according to the obstacle information, the first obstacle is the obstacle closest to the intelligent driving device in a first area, the first area is located directly in front of the intelligent driving device and / or the first area is located diagonally in front of the side away from the driver's side of the intelligent driving device, or the first area is located directly behind the intelligent driving device and / or the first area is located diagonally behind the side away from the driver's side of the intelligent driving device; generating a first temporary parking space according to the first obstacle, the first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space is a first type of parking space.

3. The method according to claim 2, wherein When the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the included angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

4. The method according to claim 2 or 3, characterized in that, The distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: determining a third road boundary according to the parking space information and / or the road structure information; generating a second temporary parking space according to the third road boundary, the second temporary parking space is located in front of or behind the intelligent driving device, the second temporary parking space does not overlap or partially overlaps with the current position of the intelligent driving device, and the distance between the second temporary parking space and the third road boundary is greater than or equal to a third distance threshold and less than a fourth distance threshold, and the second temporary parking space is a second type of parking space.

6. The method according to claim 5, wherein The central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the included angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to a second angle threshold.

7. The method according to claim 5 or 6, characterized in that, The distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

8. The method according to any one of claims 1 to 7, characterized in that The at least two types of temporary parking spaces further include a third type of parking space, and the third type of parking space is an empty parking space determined according to the parking space information.

9. The method according to any one of claims 1 to 8, characterized in that, The determining at least two types of temporary parking spaces includes: When the intelligent driving device meets an oncoming vehicle with a target vehicle, determine the at least two types of temporary parking spaces.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Before controlling the intelligent driving device to park in a target temporary parking space, determine the target temporary parking space according to the blocking degree of each temporary parking space in the at least two types of temporary parking spaces on the road where the intelligent driving device is located.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Control a display device to display the at least two types of temporary parking spaces.

12. A device for intelligent driving, characterized in that, It includes: A determination unit, configured to determine at least two types of temporary parking spaces according to obstacle information around the intelligent driving device and environmental information around the intelligent driving device; Wherein, the environmental information includes parking space information and / or road structure information; The at least two types of temporary parking spaces include a first type of parking space and a second type of parking space. The first type of parking space is a parking space generated according to the obstacle information, and the second type of parking space is a parking space generated according to the parking space information and / or the road structure information; A processing unit, configured to control the intelligent driving device to park in a target temporary parking space, and the at least two types of temporary parking spaces include the target temporary parking space.

13. The device according to claim 12, characterized in that, The determination unit is further configured to: Determine a first obstacle according to the obstacle information. The first obstacle is the obstacle closest to the intelligent driving device in a first area. The first area is in front of the intelligent driving device and / or the first area is in the side front away from the driver's side of the intelligent driving device, or the first area is behind the intelligent driving device and / or the first area is in the side rear away from the driver's side of the intelligent driving device; The device further includes a generation unit, configured to: generate a first temporary parking space according to the first obstacle. The first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold. The first temporary parking space is a first type of parking space.

14. The device according to claim 13, wherein When the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the included angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

15. The device according to claim 13 or 14, characterized in that, The distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

16. The device according to any one of claims 12 to 15, characterized in that The determination unit is further configured to: Determine a third road boundary according to the parking space information and / or the road structure information; The device further includes a generation unit, configured to: generate a second temporary parking space according to the third road boundary. The second temporary parking space is in front of or behind the intelligent driving device. The second temporary parking space does not overlap or partially overlaps with the current position of the intelligent driving device. The distance between the second temporary parking space and the third road boundary is greater than or equal to a third distance threshold and less than a fourth distance threshold. The second temporary parking space is a second type of parking space.

17. The device according to claim 16, characterized in that, The central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the included angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to a second angle threshold.

18. The device according to claim 16 or 17, characterized in that The distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

19. The device according to any one of claims 12 to 18, characterized in that The at least two types of temporary parking spaces further include a third type of parking space, and the third type of parking space is an empty parking space determined according to the parking space information.

20. The device according to any one of claims 12 to 19, characterized in that, The determining unit is configured to: Determine the at least two types of temporary parking spaces when the intelligent driving device meets an oncoming vehicle with a target vehicle.

21. The device according to any one of claims 12 to 20, characterized in that The determining unit is further configured to: Before the processing unit controls the intelligent driving device to park into a target temporary parking space, determine the target temporary parking space according to the degree of blockage of each temporary parking space in the at least two types of temporary parking spaces on the road where the intelligent driving device is located.

22. The method according to any one of claims 12 to 21, characterized in that, The processing unit is further configured to: Control a display device to display the at least two types of temporary parking spaces.

23. A device for intelligent driving, characterized in that, Comprising: A memory for storing a computer program; A processor for executing the computer program stored in the memory, so that the device executes the method according to any one of claims 1 to 11.

24. An intelligent driving device, characterized in that, The intelligent driving device includes the device according to any one of claims 12 to 23.

25. A computer-readable storage medium, characterized in that, Instructions are stored thereon, and when the instructions are executed by a processor, the processor is caused to implement the method according to any one of claims 1 to 11.

26. A chip, characterized in that, The chip includes a circuit for executing the method according to any one of claims 1 to 11.

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