Control method, device, equipment, medium and product

Abstract

The invention discloses a control method, device and equipment, a medium and a product. The method comprises the steps that when actual measurement coordinates of an entrance line end point of a lineation parking space are detected, virtual coordinates of a far-end line end point are determined according to the actual measurement coordinates of the entrance line end point and historical parking data, the entrance line is the edge of the lineation parking space closest to a vehicle, and the far-end line is the edge of the lineation parking space closest to the vehicle; the far-end line is the edge of the lineation parking space farthest from the vehicle; generating a virtual lineation parking space model according to the actually measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints; according to the technical scheme, the conditions that the vehicle is not parked in the middle, collides with the road edge, rubs the wall and the like can be prevented, and the accuracy of automatic parking can be improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of vehicles, and in particular, to a control method, device, equipment, medium, and product. Background Art

[0002] The perception system for automatic parking usually uses surround-view cameras for stitching calibration and algorithm correction to generate a smooth panoramic view. The surround-view cameras are usually fish-eye lenses, which have a super-wide viewing angle of more than 180° and can provide perception information within a large FOV of the vehicle itself. However, due to the low pixel density of the wide-angle lens, the recognition accuracy of obstacles, parking space lines, etc. more than 5 meters away decreases.

[0003] The limitation of the perception detection range results in the lack of accurate information about parking space lines, walls, curbs, etc. in the distance in the information input to the planning. The lack of these necessary long-distance perception factors for parking may cause problems such as non-centered parking, hitting the curb, and rubbing against the wall. Summary of the Invention

[0004] Embodiments of the present invention provide a control method, device, equipment, medium, and product to prevent situations such as non-centered parking, hitting the curb, and rubbing against the wall, and to improve the accuracy of automatic parking.

[0005] According to one aspect of the present invention, a control method is provided, including:

[0006] When the measured coordinates of the entrance line endpoints of the marked parking space are detected, determine the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and historical parking data, where the entrance line is the side of the marked parking space closest to the vehicle, and the far-end line is the side of the marked parking space farthest from the vehicle;

[0007] Generate a virtual marked parking space model according to the measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints;

[0008] Control the vehicle to park according to the virtual marked parking space model.

[0009] Further, the historical parking data includes: historical parking width and the first safety margin;

[0010] Determining the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and historical parking data includes:

[0011] Determine the virtual parking space width according to the historical parking width and the first safety margin;

[0012] Determine the virtual coordinates of the far-end line endpoints according to the virtual parking space width and the measured coordinates of the entrance line endpoints.

[0013] Further, the virtual coordinates of the distal line end point include: the virtual abscissa of the distal line end point and the virtual ordinate of the distal line end point;

[0014] Determining the virtual coordinates of the distal line end point according to the virtual parking space width and the measured coordinates of the entrance line end point includes:

[0015] If the entrance line is the long side of the marked parking space, determine the virtual abscissa of the distal line end point according to the virtual parking space width and the measured abscissa of the entrance line end point;

[0016] Take the measured ordinate of the entrance line end point as the virtual ordinate of the distal line end point.

[0017] Further, the historical parking data includes: historical parking length and the second safety margin;

[0018] Determining the virtual coordinates of the distal line end point according to the measured coordinates of the entrance line end point and the historical parking data includes:

[0019] Determine the virtual parking space length according to the historical parking length and the second safety margin;

[0020] Determine the virtual coordinates of the distal line end point according to the virtual parking space length and the measured coordinates of the entrance line end point.

[0021] Further, the virtual coordinates of the distal line end point include: the virtual abscissa of the distal line end point and the virtual ordinate of the distal line end point;

[0022] Determining the virtual coordinates of the distal line end point according to the virtual parking space width and the measured coordinates of the entrance line end point includes:

[0023] If the entrance line is the short side of the marked parking space, determine the virtual ordinate of the distal line end point according to the virtual parking space length and the measured ordinate of the entrance line end point;

[0024] Take the measured abscissa of the entrance line end point as the virtual abscissa of the distal line end point.

[0025] Further, it further includes:

[0026] During the process of controlling the vehicle to park according to the virtual marked parking space model, if the measured coordinates of the distal line end point of the marked parking space are detected, generate a measured marked parking space model according to the measured coordinates of the entrance line end point of the marked parking space and the measured coordinates of the distal line end point of the marked parking space;

[0027] Control the vehicle to park according to the measured marked parking space model.

[0028] Further, controlling the vehicle to park according to the virtual marked parking space model includes:

[0029] Determining the virtual coordinates of the parking end point according to the virtual marked parking space model;

[0030] Determining the planned path for automatic parking according to the virtual coordinates of the parking end point and the current state of the vehicle, and controlling the vehicle to park based on the planned path.

[0031] Further, controlling the vehicle to park according to the measured marked parking space model includes:

[0032] Determining the measured coordinates of the parking end point according to the measured marked parking space model;

[0033] Determining the planned path for automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, and controlling the vehicle to park based on the planned path.

[0034] Further, determining the virtual coordinates of the parking end point according to the virtual marked parking space model includes:

[0035] Obtaining the distance from the geometric center of the vehicle to the rear axle;

[0036] Determining the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle.

[0037] Further, the virtual coordinates of the parking end point include: the virtual abscissa of the parking end point, the virtual ordinate of the parking end point, and the virtual heading angle of the parking end point;

[0038] Determining the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle includes:

[0039] Determining the virtual abscissa of the parking end point according to the measured abscissa of the entrance line end point and the virtual abscissa of the far end line end point;

[0040] Determining the virtual ordinate of the parking end point according to the measured ordinate of the entrance line end point and the distance from the geometric center of the vehicle to the rear axle;

[0041] Determining the virtual heading angle of the parking end point according to the measured coordinates of the entrance line end point.

[0042] Further, the current state of the vehicle includes: the coordinates of the rear axle center of the vehicle and the heading angle;

[0043] Before determining the planned path for automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, it further includes:

[0044] Obtain the current vehicle speed, wheelbase, and current front wheel steering angle of the vehicle;

[0045] Determine the rear axle center coordinates and heading angle of the vehicle based on the current vehicle speed, wheelbase, and current front wheel steering angle of the vehicle.

[0046] Further, determine the planned path of the automatic parking based on the measured coordinates of the parking-in end point and the current state of the vehicle, including:

[0047] Determine the turning radius threshold according to the wheelbase of the vehicle and the front wheel steering angle threshold;

[0048] Determine the planned path of the automatic parking based on the measured coordinates of the parking-in end point, the current state of the vehicle, and the turning radius threshold.

[0049] According to another aspect of the present invention, there is provided a control device, which includes:

[0050] A virtual coordinate determination module for the distal line end point, configured to determine the virtual coordinates of the distal line end point according to the measured coordinates of the entrance line end point of the marked parking space and the historical parking data when the measured coordinates of the entrance line end point of the marked parking space are detected, wherein the entrance line is the side of the marked parking space closest to the vehicle, and the distal line is the side of the marked parking space farthest from the vehicle;

[0051] A virtual marked parking space model generation module, configured to generate a virtual marked parking space model according to the measured coordinates of the entrance line end point and the virtual coordinates of the distal line end point;

[0052] A parking control module, configured to control the vehicle to park according to the virtual marked parking space model.

[0053] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0054] At least one processor; and

[0055] A memory communicatively connected to the at least one processor; wherein,

[0056] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method according to any embodiment of the present invention.

[0057] According to another aspect of the present invention, there is provided a computer-readable storage medium, which stores computer instructions for causing a processor to execute the control method according to any embodiment of the present invention when executed.

[0058] According to another aspect of the present invention, there is provided a computer program product, and when the computer program is executed by a processor, it implements the control method as described in any one of the embodiments of the present invention.

[0059] In the embodiment of the present invention, when the measured coordinates of the entrance line endpoints of the marked parking space are detected, the virtual coordinates of the far-end line endpoints are determined according to the measured coordinates of the entrance line endpoints and the historical parking data, where the entrance line is the side of the marked parking space closest to the vehicle, and the far-end line is the side of the marked parking space farthest from the vehicle; a virtual marked parking space model is generated according to the measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints; and the vehicle is controlled to park according to the virtual marked parking space model. It is possible to predict the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and the historical parking data when the coordinates of the far-end line endpoints cannot be detected, and then generate a virtual marked parking space model based on the measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints, and then control the vehicle to park according to the virtual marked parking space model, which can prevent situations such as non-centered parking, hitting the curb, and rubbing against the wall caused by the limitation of the perception detection range, and improve the accuracy of automatic parking.

[0060] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0062] Figure 1 is a flowchart of a control method in the embodiment of the present invention;

[0063] Figure 2 is a schematic diagram of the parking-in end point in the embodiment of the present invention;

[0064] Figure 3 is a schematic diagram of the initial planned parking-in position;

[0065] Figure 4 is a schematic diagram of the re-planned parking-in position in the embodiment of the present invention;

[0066] Figure 5 is a schematic structural diagram of a control device in the embodiment of the present invention;

[0067] Figure 6 It is a schematic structural diagram of an electronic device in an embodiment of the present invention. Detailed implementation manners

[0068] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0069] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0070] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to users and the authorization of users should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0071] Embodiment 1

[0072] Figure 1 It is a flowchart of a control method provided by an embodiment of the present invention. This embodiment is applicable to the situation of parking control. This method can be executed by the control device in the embodiment of the present invention, and the device can be implemented in a software and / or hardware manner, such as Figure 1 As shown, the method specifically includes the following steps:

[0073] S110, when the measured coordinates of the entrance line endpoints of the marked parking space are detected, determine the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and the historical parking data.

[0074] In this embodiment, the entrance line is the side of the marked parking space closest to the vehicle, and the far-end line is the side of the marked parking space farthest from the vehicle.

[0075] In this embodiment, when the measured coordinates of the entrance line endpoints of the marked parking space are detected and the measured coordinates of the far-end line endpoints are not detected, the virtual coordinates of the far-end line endpoints are determined according to the measured coordinates of the entrance line endpoints and the historical parking data.

[0076] In this embodiment, the measured coordinates of the entrance line endpoints include: the measured coordinates of the first entrance line endpoint and the measured coordinates of the second entrance line endpoint. The measured coordinates of the first entrance line endpoint include: the measured abscissa and the measured ordinate of the first entrance line endpoint. The measured coordinates of the second entrance line endpoint include: the measured abscissa and the measured ordinate of the second entrance line endpoint.

[0077] In this embodiment, the method for determining the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and the historical parking data may be: if the historical parking data includes: the historical parking width and the safety margin, and the marked parking space is the side parking space of the vehicle, then the virtual parking space width is determined according to the historical parking width and the safety margin; the virtual coordinates of the far-end line endpoints are determined according to the virtual parking space width and the measured coordinates of the entrance line endpoints. The method for determining the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and the historical parking data may also be: if the historical parking data includes: the historical parking length and the safety margin, and the marked parking space is a perpendicular parking space or an angled parking space, then the virtual parking space length is determined according to the historical parking length and the safety margin; the virtual coordinates of the far-end line endpoints are determined according to the virtual parking space length and the measured coordinates of the entrance line endpoints.

[0078] Optionally, the historical parking data includes: the historical parking width and the first safety margin;

[0079] Determining the virtual coordinates of the far-end line endpoints according to the measured coordinates of the entrance line endpoints and the historical parking data includes:

[0080] Determining the virtual parking space width according to the historical parking width and the first safety margin.

[0081] In this embodiment, the first safety margin is the safety margin set for the width of the marked parking space. The first safety margin may be the safety margin set according to the historical parking data or the safety margin set according to experience. The embodiments of the present invention do not limit this.

[0082] In this embodiment, the method for determining the virtual parking space width according to the historical parking width and the first safety margin may be: taking the sum of the historical parking width multiplied by a first preset multiple and the first safety margin as the virtual parking space width.

[0083] In a specific example, the width of the virtual parking space is determined based on the following formula:

[0084] W 宽 = β1·σ(width) + Δsafe1;

[0085] Wherein, β1 is the first preset multiple (for example, β1 = 2.58), σ(width) is the standard deviation of the historical parking width, and Δsafe1 is the first safety margin.

[0086] According to the width of the virtual parking space and the measured coordinates of the entrance line endpoints, the virtual coordinates of the far-end line endpoints are determined.

[0087] In this embodiment, the virtual coordinates of the far-end line endpoints include: the virtual coordinates of the first far-end line endpoint and the virtual coordinates of the second far-end line endpoint. The virtual coordinates of the first far-end line endpoint include: the virtual abscissa and the virtual ordinate of the first far-end line endpoint. The virtual coordinates of the second far-end line endpoint include: the virtual abscissa and the virtual ordinate of the second far-end line endpoint.

[0088] In this embodiment, the method for determining the virtual coordinates of the far-end line endpoints according to the width of the virtual parking space and the measured coordinates of the entrance line endpoints may be: determining the virtual abscissa of the far-end line endpoints according to the width of the virtual parking space and the measured abscissa of the entrance line endpoints; taking the measured ordinate of the entrance line endpoints as the virtual ordinate of the far-end line endpoints. The method for determining the virtual coordinates of the far-end line endpoints according to the width of the virtual parking space and the measured coordinates of the entrance line endpoints may also be: determining the virtual coordinates of the first far-end line endpoint according to the measured coordinates of the first entrance line endpoint; determining the virtual coordinates of the second far-end line endpoint according to the measured coordinates of the second entrance line endpoint.

[0089] Optionally, the virtual coordinates of the far-end line endpoints include: the virtual abscissa of the far-end line endpoints and the virtual ordinate of the far-end line endpoints;

[0090] Determining the virtual coordinates of the far-end line endpoints according to the width of the virtual parking space and the measured coordinates of the entrance line endpoints includes:

[0091] If the entrance line is the long side of the marked parking space, then the virtual abscissa of the far-end line endpoints is determined according to the width of the virtual parking space and the measured abscissa of the entrance line endpoints.

[0092] In this embodiment, the method for determining whether the entrance line is the long side of the marked parking space may be: presetting a length threshold, and if the length of the entrance line is greater than or equal to the length threshold, it is determined that the entrance line is the long side of the marked parking space.

[0093] In this embodiment, the method for determining the virtual abscissa of the distal line endpoint based on the virtual parking space width and the measured abscissa of the entrance line endpoint may be as follows: determining the virtual abscissa of the first distal line endpoint based on the virtual parking space width and the measured abscissa of the first entrance line endpoint; determining the virtual abscissa of the second distal line endpoint based on the virtual parking space width and the measured abscissa of the second entrance line endpoint. The method for determining the virtual abscissa of the distal line endpoint based on the virtual parking space width and the measured abscissa of the entrance line endpoint may be: taking the sum of the virtual parking space width and the measured abscissa of the first entrance line endpoint as the virtual abscissa of the first distal line endpoint; taking the sum of the virtual parking space width and the measured abscissa of the second entrance line endpoint as the virtual abscissa of the second distal line endpoint.

[0094] In a specific example, the virtual abscissa of the first distal line endpoint is determined based on the following formula:

[0095] p3_x = p1_x + W 宽 ;

[0096] In this embodiment, p3_x is the virtual abscissa of the first distal line endpoint, and p1_x is the measured abscissa of the first entrance line endpoint.

[0097] The virtual abscissa of the second distal line endpoint is determined based on the following formula:

[0098] p4_x = p2_x + W 宽 ;

[0099] In this embodiment, p4_x is the virtual abscissa of the second distal line endpoint, and p2_x is the measured abscissa of the second entrance line endpoint.

[0100] Taking the measured ordinate of the entrance line endpoint as the virtual ordinate of the distal line endpoint.

[0101] In this embodiment, taking the measured ordinate of the first entrance line endpoint as the virtual ordinate of the first distal line endpoint, and taking the measured ordinate of the second entrance line endpoint as the virtual ordinate of the second distal line endpoint.

[0102] Optionally, the historical parking data includes: historical parking length and the second safety margin;

[0103] Determining the virtual coordinates of the distal line endpoint according to the measured coordinates of the entrance line endpoint and the historical parking data includes:

[0104] Determining the virtual parking space length according to the historical parking length and the second safety margin.

[0105] In this embodiment, the second safety margin is the safety margin set for the length of the marked parking space. The second safety margin may be the same as or different from the first safety margin. The second safety margin may be the safety margin set according to historical parking data or the safety margin set according to experience. The embodiments of the present invention do not limit this.

[0106] In this embodiment, the method for determining the length of the virtual parking-in space according to the historical parking length and the second safety margin may be: taking the sum of the second preset multiple of the historical parking length and the second safety margin as the length of the virtual parking-in space. In this embodiment, the first preset multiple may be the same as or different from the second preset multiple.

[0107] In a specific example, the length of the virtual parking-in space is determined based on the following formula:

[0108] L 长 = β2·σ(length)+Δsafe2;

[0109] where β2 is the second preset multiple (for example, β2 = 4), σ(length) is the standard deviation of the historical parking length, and Δsafe2 is the second safety margin.

[0110] Determine the virtual coordinates of the distal line end point according to the length of the virtual parking-in space and the measured coordinates of the entrance line end point.

[0111] In this embodiment, the method for determining the virtual coordinates of the distal line end point according to the length of the virtual parking-in space and the measured coordinates of the entrance line end point may be: determining the virtual ordinate of the distal line end point according to the length of the virtual parking-in space and the measured ordinate of the entrance line end point; taking the measured abscissa of the entrance line end point as the virtual abscissa of the distal line end point. The method for determining the virtual coordinates of the distal line end point according to the length of the virtual parking-in space and the measured coordinates of the entrance line end point may also be: taking the sum of the length of the virtual parking-in space and the measured ordinate of the first entrance line end point as the virtual ordinate of the first distal line end point; taking the measured abscissa of the first entrance line end point as the virtual abscissa of the first distal line end point. Taking the sum of the length of the virtual parking-in space and the measured ordinate of the second entrance line end point as the virtual ordinate of the second distal line end point; taking the measured abscissa of the second entrance line end point as the virtual abscissa of the second distal line end point.

[0112] Optionally, the virtual coordinates of the distal line end point include: the virtual abscissa of the distal line end point and the virtual ordinate of the distal line end point;

[0113] Determining the virtual coordinates of the distal line end point according to the width of the virtual parking-in space and the measured coordinates of the entrance line end point includes:

[0114] If the entrance line is the short side of the marked parking space, determine the virtual ordinate of the distal line endpoint according to the length of the virtual parking-in space and the measured ordinate of the entrance line endpoint.

[0115] In this embodiment, the determination method of whether the entrance line is the short side of the marked parking space may be: preset a length threshold, and if the length of the entrance line is less than the length threshold, determine that the entrance line is the short side of the marked parking space.

[0116] In this embodiment, the method of determining the virtual ordinate of the distal line endpoint according to the length of the virtual parking-in space and the measured ordinate of the entrance line endpoint may be: determine the virtual ordinate of the first distal line endpoint according to the length of the virtual parking-in space and the measured ordinate of the first entrance line endpoint; determine the virtual ordinate of the second distal line endpoint according to the length of the virtual parking-in space and the measured ordinate of the second entrance line endpoint. The method of determining the virtual ordinate of the distal line endpoint according to the length of the virtual parking-in space and the measured ordinate of the entrance line endpoint may also be: take the sum of the length of the virtual parking-in space and the measured ordinate of the first entrance line endpoint as the virtual ordinate of the first distal line endpoint; take the sum of the length of the virtual parking-in space and the measured ordinate of the second entrance line endpoint as the virtual ordinate of the second distal line endpoint.

[0117] In a specific example, determine the virtual ordinate of the first distal line endpoint based on the following formula:

[0118] p3_y = p1_y - L 长 ;

[0119] In this embodiment, p3_y is the virtual ordinate of the first distal line endpoint, and p1_y is the measured ordinate of the first entrance line endpoint.

[0120] Determine the virtual ordinate of the second distal line endpoint based on the following formula:

[0121] p4_y = p2_y - L 长 ;

[0122] In this embodiment, p4_y is the virtual ordinate of the second distal line endpoint, and p2_y is the measured ordinate of the second entrance line endpoint.

[0123] Take the measured abscissa of the entrance line endpoint as the virtual abscissa of the distal line endpoint.

[0124] In this embodiment, take the measured abscissa of the first entrance line endpoint as the virtual abscissa of the first distal line endpoint; take the measured abscissa of the second entrance line endpoint as the virtual abscissa of the second distal line endpoint.

[0125] S120. Generate a virtual marked parking space model based on the measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints.

[0126] In this embodiment, the way to generate a virtual marked parking space model based on the measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints can be: Take the measured coordinates of the first entrance line endpoint, the measured coordinates of the second entrance line endpoint, the virtual coordinates of the first far-end line endpoint, and the virtual coordinates of the second far-end line endpoint as the parking space corner points of the virtual marked parking space model, and then obtain the virtual marked parking space model.

[0127] S130. Control the vehicle to park according to the virtual marked parking space model.

[0128] In this embodiment, the way to control the vehicle to park according to the virtual marked parking space model can be: Determine the virtual coordinates of the parking-in end point according to the virtual marked parking space model; Determine the planned path of automatic parking according to the virtual coordinates of the parking-in end point and the current state of the vehicle, and control the vehicle to park based on the planned path.

[0129] The solution provided in this embodiment compensates for the defect of insufficient far-distance pixel density of the surround-view camera through virtual modeling, and thus improves the recognition effect of long-distance parking spaces.

[0130] Optionally, it further includes:

[0131] During the process of controlling the vehicle to park according to the virtual marked parking space model, if the measured coordinates of the far-end line endpoints of the marked parking space are detected, then generate a measured marked parking space model based on the measured coordinates of the entrance line endpoints and the measured coordinates of the far-end line endpoints of the marked parking space.

[0132] In this embodiment, during the process of controlling the vehicle to park according to the virtual marked parking space model, perform real-time perception information update until when the vehicle enters a sufficiently deep position and can already perceive the measured coordinates of the far-end line endpoints of the marked parking space, then generate a measured marked parking space model based on the measured coordinates of the entrance line endpoints and the measured coordinates of the far-end line endpoints of the marked parking space.

[0133] In this embodiment, the way to generate a measured marked parking space model based on the measured coordinates of the entrance line endpoints and the measured coordinates of the far-end line endpoints of the marked parking space can be: Take the measured coordinates of the first entrance line endpoint, the measured coordinates of the second entrance line endpoint, the measured coordinates of the first far-end line endpoint, and the measured coordinates of the second far-end line endpoint as the parking space corner points of the measured marked parking space model, and then obtain the measured marked parking space model.

[0134] Control the vehicle to park according to the measured marked parking space model.

[0135] In this embodiment, the method of controlling the vehicle to park according to the measured marked parking space model may be: determining the measured coordinates of the parking-in end point according to the measured marked parking space model; determining the planned path of automatic parking according to the measured coordinates of the parking-in end point and the current state of the vehicle, and controlling the vehicle to park based on the planned path.

[0136] The technical solution provided in this embodiment improves the progressive replanning method, enabling the planning and control end to perform replanning at an appropriate time, making the path planning more reasonable, avoiding collisions and crossing the lines, and improving the path smoothness and safety.

[0137] Optionally, controlling the vehicle to park according to the virtual marked parking space model includes:

[0138] Determining the virtual coordinates of the parking-in end point according to the virtual marked parking space model.

[0139] In this embodiment, the method of determining the virtual coordinates of the parking-in end point according to the virtual marked parking space model may be: obtaining the distance from the geometric center of the vehicle to the rear axle; determining the virtual coordinates of the parking-in end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle.

[0140] Determining the planned path of automatic parking according to the virtual coordinates of the parking-in end point and the current state of the vehicle, and controlling the vehicle to park based on the planned path.

[0141] In this embodiment, the method of determining the planned path of automatic parking according to the virtual coordinates of the parking-in end point and the current state of the vehicle may be: determining the planned path of automatic parking according to the virtual coordinates of the parking-in end point, the current state of the vehicle, and the constraint conditions. The constraint conditions include at least one of a turning radius threshold, a speed threshold, and an acceleration threshold.

[0142] In this embodiment, the method of controlling the vehicle to park based on the planned path may be: generating a control instruction based on the planned path and controlling the vehicle to park based on the control instruction.

[0143] Optionally, controlling the vehicle to park according to the measured marked parking space model includes:

[0144] Determining the measured coordinates of the parking-in end point according to the measured marked parking space model.

[0145] In this embodiment, the measured coordinates of the parking-in end point include: the measured abscissa, the measured ordinate, and the measured heading angle of the parking-in end point.

[0146] In this embodiment, the method for determining the measured coordinates of the parking end point based on the measured marked parking space model may be as follows: Determine the measured abscissa of the parking end point according to the measured abscissa of the entrance line end point and the measured abscissa of the far end line end point; Determine the measured ordinate of the parking end point according to the measured ordinate of the entrance line end point and the distance from the centroid of the vehicle to the rear axle; Determine the measured heading angle of the parking end point according to the measured coordinates of the entrance line end point.

[0147] Determine the planned path of the automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, and control the vehicle to park based on the planned path.

[0148] In this embodiment, the method for determining the planned path of the automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle may be as follows: Determine the planned path of the automatic parking according to the measured coordinates of the parking end point, the current state of the vehicle, and the constraint conditions. The constraint conditions include at least one of a turning radius threshold, a speed threshold, and an acceleration threshold.

[0149] Optionally, determining the virtual coordinates of the parking end point according to the virtual marked parking space model includes:

[0150] Obtain the distance from the geometric center of the vehicle to the rear axle.

[0151] In this embodiment, the method for obtaining the distance from the geometric center of the vehicle to the rear axle may be obtained by reading the vehicle design document, or may be obtained by other means, which is not limited in the embodiments of the present invention.

[0152] Determine the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle.

[0153] In this embodiment, the method for determining the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle may be as follows: Determine the virtual abscissa of the parking end point according to the measured abscissa of the entrance line end point and the virtual abscissa of the far end line end point; Determine the virtual ordinate of the parking end point according to the measured ordinate of the entrance line end point and the distance from the centroid of the vehicle to the rear axle; Determine the virtual heading angle of the parking end point according to the measured coordinates of the entrance line end point.

[0154] Optionally, the virtual coordinates of the parking end point include: the virtual abscissa of the parking end point, the virtual ordinate of the parking end point, and the virtual heading angle of the parking end point;

[0155] Determining the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle includes:

[0156] Determine the virtual abscissa of the parking end point according to the measured abscissa of the entrance line end point and the virtual abscissa of the distal line end point;

[0157] Determine the virtual ordinate of the parking end point according to the measured ordinate of the entrance line end point and the distance from the geometric center of the vehicle to the rear axle;

[0158] Determine the virtual heading angle of the parking end point according to the measured coordinates of the entrance line end point.

[0159] In a specific example, such as Figure 2 As shown, after constructing the virtual parking space, the parking space corner points p1, p2, p3, and p4 can be obtained. The virtual abscissa of the parking end point, the virtual ordinate of the parking end point, and the virtual heading angle of the parking end point can be determined based on the following formulas:

[0160]

[0161] In this embodiment, EndPoint_x is the virtual abscissa of the parking end point, EndPoint_y is the virtual ordinate of the parking end point, EndPoint_yaw is the virtual heading angle of the parking end point, p1_x is the measured abscissa of the first entrance line end point, p3_x is the virtual abscissa of the first distal line end point, p1_y is the measured ordinate of the first entrance line end point, p2_y is the measured ordinate of the second entrance line end point, Length_rearOverhang is the distance from the geometric center of the vehicle to the rear axle, and p2_x is the measured abscissa of the second entrance line end point.

[0162] Optionally, the current state of the vehicle includes: the coordinates of the rear axle center of the vehicle and the heading angle;

[0163] Before determining the planned path of automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, it further includes:

[0164] Obtain the current vehicle speed, wheelbase, and current front wheel steering angle of the vehicle.

[0165] Determine the coordinates of the rear axle center of the vehicle and the heading angle according to the current vehicle speed, wheelbase, and current front wheel steering angle of the vehicle.

[0166] In this embodiment, the current state of the vehicle can be determined based on the state equation of the vehicle pose. The state equation of the vehicle pose is as follows:

[0167]

[0168] In this embodiment, x is the abscissa of the center of the vehicle's rear axle, y is the ordinate of the center of the vehicle's rear axle, and ψ is the heading angle of the vehicle. v is the current vehicle speed (e.g., longitudinal vehicle speed), L is the wheelbase of the vehicle, and δ is the current front-wheel steering angle.

[0169] Optionally, determining a planned path for automatic parking according to the measured coordinates of the parking-in end point and the current state of the vehicle includes:

[0170] Determining a turning radius threshold according to the wheelbase of the vehicle and the front-wheel steering angle threshold.

[0171] In this embodiment, the turning radius threshold is determined based on the following formula:

[0172] Rmin = L / tan(δmax);

[0173] In this embodiment, δmax is the front-wheel steering angle threshold, and Rmin is the turning radius threshold (i.e., the minimum turning radius, and the minimum turning radius has a certain proportional relationship with the maximum front-wheel angle).

[0174] Determining a planned path for automatic parking according to the measured coordinates of the parking-in end point, the current state of the vehicle, and the turning radius threshold.

[0175] In this embodiment, the measured coordinates of the parking-in end point, the current state of the vehicle, and the turning radius threshold are input into a planning model, and an optimal path is planned and calculated through a hybrid A* algorithm for parking in.

[0176] In the prior art, the sensing end has normal inspection effects for the parking space lines close to the vehicle body, but has poor detection effects for the parking space lines in the distance, resulting in the sensing end being unable to output a complete and accurate parking space + obstacle information to the planning and control end. For a horizontal parking space (side parking), the sensing end has a large difference in the detection distances for the two long sides, and the limitations of the vision effect lead to inaccurate detection of the long sides and obstacles in the distance of the horizontal parking space. Based on the current situation of insufficient long-distance sensing accuracy in the prior art, a two-stage parking decision framework of "virtual modeling first, dynamic replanning and correction" is proposed. As Figure 3 shown, after the system receives the initial parking space point information, the initial planned parking-in position is determined based on the fusion perception data of the surround-view camera and the ultrasonic radar. Due to the limitations of the vision effect, the long sides and obstacles in the distance of the horizontal parking space are inaccurately detected. Parking in based on the initial planned parking-in position will press the far-side line + collide with the road edge. Therefore, during the parking-in process, a virtual marked parking space is created. While the planning and control end parks in along the virtual marked parking space, the perception information is updated in real time until the information such as the original boundary line + road edge + wall that could not be perceived at the beginning enters the field of view.

[0177] As Figure 4As shown in the figure, when the vehicle enters a sufficiently deep position, the perception can detect various perception information from the far edge, and the perception recalculates the four corner points of the parking space, the real-time position status of the vehicle, and outputs the updated and accurate parking space results to the planning end.

[0178] The control end performs re-planning, re-plans the local path, and optimizes the path twice to ensure that the vehicle can park in a position that does not collide with the curb or wall, but is as central as possible.

[0179] The planned parking method based on the virtual-to-real avoidance of long-distance perception defects can effectively reduce the probability of parking failures such as collision with curbs and walls and crossing the line after parking is completed due to long-distance perception defects.

[0180] The solution provided in this embodiment greatly improves the parking success rate of long-distance parking spaces and enhances the user experience through dynamic coordination of the parking process through perception and regulation.

[0181] In a specific example, a flexible automatic parking method for the control end when the perception field of view is relatively limited based on a low-order computing power platform is proposed. The method includes the following steps: after receiving the initial parking space, enter the automatic parking mode. When the perception end detects the measured coordinates of the entrance line endpoint of the lined parking space, and does not detect the measured coordinates of the distal line endpoint of the lined parking space, determine the virtual coordinates of the distal line endpoint according to the measured coordinates of the entrance line endpoint and historical parking data, and generate a virtual lined parking space model according to the measured coordinates of the entrance line endpoint and the virtual coordinates of the distal line endpoint. Based on the virtual lined parking space model, control the vehicle to park, receive perception information in real time during the progressive parking process, and if there is new perception information input, determine whether the new perception information contains long-distance perception information (for example, the measured coordinates of the distal line endpoint). If the new perception information contains long-distance perception information, determine whether the vehicle has been parked in a suitable position according to the long-distance perception information, and the acquired long-distance perception information is suitable for re-planning, and then correct the parking path of the vehicle according to the re-planning result.

[0182] The technical solution of this embodiment is as follows: when the measured coordinates of the end point of the entrance line of the marked parking space are detected, the virtual coordinates of the end point of the far end line are determined according to the measured coordinates of the end point of the entrance line and the historical parking data, where the entrance line is the side of the marked parking space closest to the vehicle, and the far end line is the side of the marked parking space farthest from the vehicle; a virtual marked parking space model is generated according to the measured coordinates of the end point of the entrance line and the virtual coordinates of the end point of the far end line; and the vehicle is controlled to park according to the virtual marked parking space model. It is possible to predict the virtual coordinates of the end point of the far end line according to the measured coordinates of the end point of the entrance line and the historical parking data when the coordinates of the end point of the far end line cannot be detected, and then generate a virtual marked parking space model based on the measured coordinates of the end point of the entrance line and the virtual coordinates of the end point of the far end line, and then control the vehicle to park according to the virtual marked parking space model, which can prevent situations such as non-centered parking, hitting the curb, and rubbing against the wall caused by the limitation of the perception detection range. Through virtual modeling combined with perception regulation and dynamic programming, the dependence on high-precision lidar and high-precision surround-view cameras is reduced, the hardware cost is lowered, and the performance of automatic parking under a low-order computing power platform is optimized.

[0183] Embodiment 2

[0184] Figure 5 FIG. is a schematic structural diagram of a control device provided by an embodiment of the present invention. This embodiment is applicable to the situation of parking control. The device can be implemented in software and / or hardware, and the device can be integrated in any device providing control functions, such as Figure 5 As shown, the control device specifically includes: a virtual coordinate determination module 510 for the end point of the far end line, a virtual marked parking space model generation module 520, and a parking control module 530.

[0185] Among them, the virtual coordinate determination module for the end point of the far end line is configured to, when the measured coordinates of the end point of the entrance line of the marked parking space are detected, determine the virtual coordinates of the end point of the far end line according to the measured coordinates of the end point of the entrance line and the historical parking data, where the entrance line is the side of the marked parking space closest to the vehicle, and the far end line is the side of the marked parking space farthest from the vehicle;

[0186] The virtual marked parking space model generation module is configured to generate a virtual marked parking space model according to the measured coordinates of the end point of the entrance line and the virtual coordinates of the end point of the far end line;

[0187] The parking control module is configured to control the vehicle to park according to the virtual marked parking space model.

[0188] The above product can execute the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the executed method.

[0189] Embodiment 3

[0190] Figure 6 FIG. 1 shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, for example, personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0191] As Figure 6 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0192] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0193] The processor 11 can be various general-purpose and / or special-purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method.

[0194] In some embodiments, the control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method by any other suitable means (e.g., by means of firmware).

[0195] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0196] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0197] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0198] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0199] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of the communication network include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0200] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of high management difficulty and weak business scalability existing in traditional physical hosts and VPS services.

[0201] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0202] An embodiment of the present invention also provides a computer program product, including a computer program, which when executed by a processor implements the control method according to any embodiment of the present invention.

[0203] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0204] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method, characterized in that, Including: When the measured coordinates of the entrance line endpoints of the marked parking space are detected, based on the measured coordinates of the entrance line endpoints and the historical parking data, determine the virtual coordinates of the far-end line endpoints, where the entrance line is the side of the marked parking space closest to the vehicle, and the far-end line is the side of the marked parking space farthest from the vehicle; Generate a virtual marked parking space model based on the measured coordinates of the entrance line endpoints and the virtual coordinates of the far-end line endpoints; Control the vehicle to park according to the virtual marked parking space model.

2. The method according to claim 1, wherein The historical parking data includes: historical parking width and a first safety margin; Determining the virtual coordinates of the far-end line endpoints based on the measured coordinates of the entrance line endpoints and the historical parking data includes: Determine the virtual parking-in space width based on the historical parking width and the first safety margin; Determine the virtual coordinates of the far-end line endpoints based on the virtual parking-in space width and the measured coordinates of the entrance line endpoints.

3. The method according to claim 2, wherein The virtual coordinates of the far-end line endpoints include: the virtual abscissa of the far-end line endpoints and the virtual ordinate of the far-end line endpoints; Determining the virtual coordinates of the far-end line endpoints based on the virtual parking-in space width and the measured coordinates of the entrance line endpoints includes: If the entrance line is the long side of the marked parking space, determine the virtual abscissa of the far-end line endpoints based on the virtual parking-in space width and the measured abscissa of the entrance line endpoints; Take the measured ordinate of the entrance line endpoints as the virtual ordinate of the far-end line endpoints.

4. The method according to claim 1, wherein The historical parking data includes: historical parking length and a second safety margin; Determining the virtual coordinates of the far-end line endpoints based on the measured coordinates of the entrance line endpoints and the historical parking data includes: Determine the virtual parking-in space length based on the historical parking length and the second safety margin; Determine the virtual coordinates of the far-end line endpoints based on the virtual parking-in space length and the measured coordinates of the entrance line endpoints.

5. The method according to claim 4, wherein The virtual coordinates of the far-end line endpoints include: the virtual abscissa of the far-end line endpoints and the virtual ordinate of the far-end line endpoints; Determining the virtual coordinates of the far-end line endpoints based on the virtual parking-in space width and the measured coordinates of the entrance line endpoints includes: If the entrance line is the short side of the marked parking space, determine the virtual ordinate of the far-end line endpoints based on the virtual parking-in space length and the measured ordinate of the entrance line endpoints; Take the measured abscissa of the entrance line endpoints as the virtual abscissa of the far-end line endpoints.

6. The method according to claim 1, characterized in that It also includes: During the process of controlling the vehicle to park according to the virtual marked parking space model, if the measured coordinates of the far-end line endpoints of the marked parking space are detected, generate a measured marked parking space model based on the measured coordinates of the entrance line endpoints of the marked parking space and the measured coordinates of the far-end line endpoints of the marked parking space; Control the vehicle to park according to the measured marked parking space model.

7. The method according to claim 1 or 6, characterized in that, Controlling the vehicle to park according to the virtual marked parking space model includes: Determine the virtual coordinates of the parking-in end point according to the virtual marked parking space model; Determine the planned path of the automatic parking according to the virtual coordinates of the parking-in end point and the current state of the vehicle, and control the vehicle to park based on the planned path.

8. The method according to claim 6, wherein Controlling the vehicle to park according to the measured marked parking space model, including: Determining the measured coordinates of the parking end point according to the measured marked parking space model; Determining the planned path of automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, and controlling the vehicle to park based on the planned path.

9. The method according to claim 7, wherein Determining the virtual coordinates of the parking end point according to the virtual marked parking space model, including: Obtaining the distance from the geometric center of the vehicle to the rear axle; Determining the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle.

10. The method according to claim 9, characterized in that, The virtual coordinates of the parking end point include: the virtual abscissa of the parking end point, the virtual ordinate of the parking end point, and the virtual heading angle of the parking end point; Determining the virtual coordinates of the parking end point according to the virtual marked parking space model and the distance from the geometric center of the vehicle to the rear axle, including: Determining the virtual abscissa of the parking end point according to the measured abscissa of the entrance line end point and the virtual abscissa of the far end line end point; Determining the virtual ordinate of the parking end point according to the measured ordinate of the entrance line end point and the distance from the geometric center of the vehicle to the rear axle; Determining the virtual heading angle of the parking end point according to the measured coordinates of the entrance line end point.

11. The method according to claim 8, wherein The current state of the vehicle includes: the coordinate of the rear axle center of the vehicle and the heading angle; Before determining the planned path of automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, it further includes: Obtaining the current vehicle speed, wheelbase, and current front wheel steering angle of the vehicle; Determining the coordinate of the rear axle center and the heading angle of the vehicle according to the current vehicle speed, wheelbase, and current front wheel steering angle of the vehicle.

12. The method according to claim 11, wherein Determining the planned path of automatic parking according to the measured coordinates of the parking end point and the current state of the vehicle, including: Determining the turning radius threshold according to the wheelbase of the vehicle and the front wheel steering angle threshold; Determining the planned path of automatic parking according to the measured coordinates of the parking end point, the current state of the vehicle, and the turning radius threshold.

13. A control device, characterized in that, Including: A virtual coordinate determination module for the far end line end point, configured to determine the virtual coordinates of the far end line end point according to the measured coordinates of the entrance line end point of the marked parking space and historical parking data when detecting the measured coordinates of the entrance line end point of the marked parking space, where the entrance line is the side of the marked parking space closest to the vehicle, and the far end line is the side of the marked parking space farthest from the vehicle; A virtual marked parking space model generation module for generating a virtual marked parking space model according to the measured coordinates of the entrance line end point and the virtual coordinates of the far end line end point; A parking control module for controlling the vehicle to park according to the virtual marked parking space model.

14. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method according to any one of claims 1-12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing the control method according to any one of claims 1-12 when executed by a processor.

16. A computer program product, characterized in that, The computer program product includes a computer program which implements the control method according to any one of claims 1-12 when executed by a processor.

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