Parking method, device and equipment and storage medium

Abstract

The invention provides a parking method, device and equipment and a storage medium, and is applied to the technical fields of smart traffic, Internet of Vehicles, intelligent driving, cloud computing and the like, and the method comprises the steps: receiving a parking instruction for parking a vehicle into a parking space, responding to the parking instruction, and when a first parking space which is parallel to a first road and is free is detected on the first road where the vehicle is located, parking the vehicle in the parking space; obtaining vehicle parameter information of the vehicle; based on the vehicle parameter information, vehicle motion information corresponding to N stages needed for controlling the vehicle to be parked in the first parking space from the current position is determined, and the N stages comprise at least one of a preparation position arriving stage, a reversing angle adjusting stage, a linear reversing stage and a steering reversing stage; and based on the vehicle motion information corresponding to the N stages, the vehicle is controlled to be parked in the first parking space. The process of parking the vehicle into the roadside parallel parking spaces is divided into four stages, the vehicle is controlled to be parked automatically, accurately and safely, and the application of the intelligent driving technology is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of vehicles, and in particular, to a parking method, device, equipment and storage medium. Background Art

[0002] Parking a vehicle into a roadside parallel parking space is a common scenario in road traffic. For example, one or both sides of the road where the vehicle travels include multiple parking spaces parallel to the road, and the vehicle is parked into the parallel parking space. With the rapid development of intelligent driving technology, for vehicles with intelligent driving functions or vehicles with assisted driving functions, there is an urgent need for these vehicles to be able to automatically park into roadside parallel parking spaces.

[0003] However, in the current related intelligent driving technologies, such as microscopic traffic simulation technology, the behavior of a vehicle reversing into a parallel parking space cannot be simulated, which leads to a mismatch between the simulation results and the actual situation, thus affecting the popularization and application of intelligent driving technology. Summary of the Invention

[0004] The present application provides a parking method, device, equipment and storage medium, which can control a vehicle to automatically park into a side parallel parking space, thereby promoting the popularization and application of intelligent driving technology.

[0005] In a first aspect, the present application provides a parking method, including:

[0006] Receiving a parking instruction to park the vehicle into a parking space, and in response to the parking instruction, when a first parking space parallel to and idle on the first road where the vehicle is located is detected, obtaining vehicle parameter information of the vehicle;

[0007] Based on the vehicle parameter information, determining vehicle motion information corresponding to N stages respectively required for controlling the vehicle to park from the current position into the first parking space, the N stages including at least one of a stage of reaching a preparation position, a stage of adjusting the reverse angle, a stage of straight reversing, and a stage of steering and reversing, and N being a positive integer;

[0008] Controlling the vehicle to park into the first parking space based on the vehicle motion information corresponding to the N stages respectively.

[0009] In a second aspect, the present application provides a parking device, including:

[0010] An obtaining unit, configured to receive a parking instruction to park the vehicle into a parking space, and in response to the parking instruction, when a first parking space parallel to and idle on the first road where the vehicle is located is detected, obtain vehicle parameter information of the vehicle;

[0011] A determining unit, configured to determine vehicle motion information corresponding to N phases required for controlling the vehicle to park from the current position into the first parking space based on the vehicle parameter information, where the N phases include at least one of a reaching preparation position phase, an adjusting reverse angle phase, a straight reverse phase, and a steering reverse phase, and N is a positive integer;

[0012] A control unit, configured to control the vehicle to park into the first parking space based on the vehicle motion information corresponding to the N phases respectively.

[0013] In some embodiments, the vehicle motion information corresponding to each of the N phases includes the position information of the vehicle at the end of each phase; the determining unit is specifically configured to divide the first road into a parking space lane and a virtual lane, where the virtual lane is the remaining road surface in the first road except the parking space lane; based on the vehicle parameter information, the parking space lane, and the virtual lane, determine the first position information of the vehicle at the end of the reaching preparation position phase; based on the vehicle parameter information and the first position information, determine the second position information of the vehicle at the end of the adjusting reverse angle phase; determine the correspondence between the third position information of the vehicle at the end of the straight reverse phase and the fourth position information of the vehicle at the end of the steering reverse phase based on the vehicle parameter information, and based on the correspondence and the preset value of the fourth position information at the end of the steering reverse phase, determine the third position information.

[0014] In some embodiments, the vehicle parameter information includes the size of the vehicle, and the determining unit is specifically configured to obtain a second parking space on the parking space lane before the first parking space; based on the size of the vehicle, the second parking space, and the virtual lane, determine the first position information.

[0015] In some embodiments, the determining unit is specifically configured to, if a first vehicle is parked in the second parking space, obtain the position information of the rear of the first vehicle; based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of the vehicle, determine the first position information, where the first position information is located in the virtual lane.

[0016] In some embodiments, the determining unit is specifically configured to determine the x coordinate value in the first position information when the rear of the vehicle is flush with the rear of the first vehicle based on the position information of the rear of the first vehicle and the size of the vehicle; based on the width of the first vehicle, the width of the vehicle, and the preset spacing between the vehicle and the first vehicle in the y direction, determine the y coordinate value in the first position information.

[0017] In some embodiments, the determining unit is specifically configured to add half of the sum of the width of the first vehicle and the width of the vehicle itself to the preset spacing to obtain the y-coordinate value in the first position information.

[0018] In some embodiments, the parameter information of the vehicle includes the minimum turning radius of the vehicle itself and the axle spacing between the front axle and the rear axle of the vehicle itself; the determining unit is specifically configured to determine the rotation radius of the center of the rear wheel of the vehicle itself based on the minimum turning radius of the vehicle itself and the axle spacing of the vehicle itself; and determine the second position information based on the rotation radius of the center of the rear wheel of the vehicle itself, the first included angle between the vehicle center line of the vehicle itself and the center line of the first road at the end of the stage of adjusting the reverse angle, and the first position information.

[0019] In some embodiments, the determining unit is specifically configured to determine the first moving distances in the x-direction and the y-direction of the vehicle itself from the end of the stage of reaching the preparation position to the end of the stage of adjusting the reverse angle based on the rotation radius of the center of the rear wheel of the vehicle itself and the first included angle; determine the x-coordinate value in the second position information based on the x-coordinate value in the first position information and the first moving distance of the vehicle itself in the x-direction; and determine the y-coordinate value in the second position information based on the y-coordinate value in the first position information and the first moving distance of the vehicle itself in the y-direction.

[0020] In some embodiments, the determining unit is specifically configured to determine the product of the sine value of the first included angle and the rotation radius of the center of the rear wheel of the vehicle itself as the first moving distance of the vehicle itself in the x-direction; multiply the cosine value of the first included angle by the rotation radius of the center of the rear wheel of the vehicle itself to obtain a first value; and determine the difference between the rotation radius of the center of the rear wheel of the vehicle itself and the first value as the first moving distance of the vehicle itself in the y-direction.

[0021] In some embodiments, the parameter information of the vehicle includes the minimum turning radius of the vehicle itself and the axle spacing between the front axle and the rear axle of the vehicle itself; the determining unit is specifically configured to determine the rotation radius of the center of the rear wheel of the vehicle itself based on the minimum turning radius of the vehicle itself and the axle spacing of the vehicle itself; and determine the corresponding relationship based on the rotation radius of the center of the rear wheel of the vehicle itself and the first included angle between the vehicle center line of the vehicle itself and the center line of the first road at the end of the straight reverse stage.

[0022] In some embodiments, the determining unit is specifically configured to determine a second moving distance of the vehicle in the x - direction and the y - direction from the end of the straight - line reverse stage to the end of the steering reverse stage based on the rotation radius of the rear - wheel center of the vehicle and the first included angle; determine the x - coordinate value in the fourth position information as the difference between the x - coordinate value in the third position information and the second moving distance of the vehicle in the x - direction; and determine the y - coordinate value in the fourth position information as the difference between the y - coordinate value in the third position information and the second moving distance of the vehicle in the y - direction.

[0023] In some embodiments, the determining unit is specifically configured to determine the second moving distance of the vehicle in the x - direction as the product of the sine value of the first included angle and the rotation radius of the rear - wheel center of the vehicle; multiply the cosine value of the first included angle by the rotation radius of the rear - wheel center of the vehicle to obtain a second value; and determine the difference between the rotation radius of the rear - wheel center of the vehicle and the second value as the second moving distance of the vehicle in the y - direction.

[0024] In some embodiments, the vehicle motion information corresponding to each of the N stages further includes the vehicle trajectory information for each stage; wherein, the vehicle trajectory information for the reaching the preparation position stage includes: the vehicle travels from the current position to the first position corresponding to the first position information, and the first position is parallel to the center line of the parking space lane; the vehicle trajectory information for the adjusting the reverse angle stage includes: after the vehicle turns the steering wheel fully to the right, it reverses from the first position to the second position corresponding to the second position information; the vehicle trajectory information for the straight - line reverse stage includes: after the vehicle straightens the steering wheel, it reverses from the second position to the third position corresponding to the third position information; the vehicle trajectory information for the steering reverse stage includes: after the vehicle turns the steering wheel fully to the left, it reverses from the third position to the fourth position corresponding to the fourth position information.

[0025] In some embodiments, the determining unit is further configured to determine the time - consuming information corresponding to each of the N stages based on the vehicle parameter information and the aggressiveness corresponding to the vehicle; the control unit is specifically configured to control the vehicle to travel from the current position to the first position based on the time - consuming information corresponding to the reaching the preparation position stage; control the vehicle to reverse from the first position to the second position after turning the steering wheel fully to the right based on the time - consuming information corresponding to the adjusting the reverse angle stage; control the vehicle to reverse from the second position to the third position after straightening the steering wheel based on the time - consuming information corresponding to the straight - line reverse stage; and control the vehicle to reverse from the third position to the fourth position after turning the steering wheel fully to the left based on the time - consuming information corresponding to the steering reverse stage.

[0026] In some embodiments, after the control unit controls the steering wheel of the vehicle to turn fully to the left based on the time-consuming information corresponding to the reverse steering stage and the vehicle reverses from the third position to the fourth position, if it detects that the fourth position is not the target parking position in the first parking space, the control unit is further configured to control the vehicle to straighten the steering wheel and then move forward and backward along the center line of the parking space lane in the first parking space so that the vehicle is parked at the target parking position.

[0027] In some embodiments, which can be applied to the automatic driving simulation scenario and the automatic driving scenario, the control unit is further configured to, in the automatic driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the arrival preparation position stage, place a virtual obstacle at a position parallel to the first parking space on the center line of the virtual lane, so that the vehicle following behind on the first road travels based on the virtual obstacle; in the automatic driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the arrival preparation position stage, send the position information and size information of the virtual obstacle to the vehicle following behind, so that the vehicle following behind drives based on the position information and size information of the virtual obstacle, and the position information of the virtual obstacle is the position parallel to the first parking space on the center line of the virtual lane.

[0028] In a third aspect, an electronic device is provided, including a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the methods in the first aspect and its various implementation manners above.

[0029] In a fourth aspect, a chip is provided for implementing the methods in any one of the first aspect and its various implementation manners above. Specifically, the chip includes: a processor, which is used to call and run a computer program from a memory, so that a device installed with the chip executes the methods in the first aspect and its various implementation manners above.

[0030] In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, and the computer program causes a computer to execute the methods in the first aspect and its various implementation manners above.

[0031] In a sixth aspect, a computer program product is provided, including computer program instructions, and the computer program instructions cause a computer to execute the methods in the first aspect and its various implementation manners above.

[0032] In a seventh aspect, a computer program is provided which, when run on a computer, causes the computer to execute the methods in the first aspect and its various implementation manners described above.

[0033] In summary, in the embodiments of the present application, by receiving a parking instruction to park the vehicle in a parking space, in response to the parking instruction, when a first parking space parallel to and vacant on the first road where the vehicle is located is detected, the vehicle parameter information of the vehicle is obtained. Then, based on the vehicle parameter information, the vehicle motion information corresponding to N stages required to control the vehicle to park from the current position into the first parking space is determined, where the N stages include at least one of a stage of reaching the preparation position, a stage of adjusting the reverse angle, a stage of straight reverse, and a stage of steering reverse. In this way, based on the vehicle motion information corresponding to the N stages, the vehicle can be controlled to park in the first parking space. That is, in the embodiments of the present application, the process of parking the vehicle into the roadside parallel parking space is divided into four stages: a stage of reaching the preparation position, a stage of adjusting the reverse angle, a stage of straight reverse, and a stage of steering reverse, and the vehicle motion information corresponding to these four stages is determined. Furthermore, based on the vehicle motion information of these four stages, the vehicle is controlled to park automatically, accurately, and safely into the first parking space, and the process of determining the vehicle motion information of each stage is simple, thereby reducing the complexity of roadside parking. In the simulation scenario, the process trajectory of the vehicle parking on the side into the parallel parking space is closer to reality, making the simulation result more realistic. In the intelligent driving scenario, the vehicle can be automatically parked into the roadside parallel parking space, thereby improving the intelligent driving performance of the vehicle and promoting the popularization and application of intelligent driving technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 A schematic diagram of a road traffic for parking a vehicle into a roadside parallel parking space;

[0036] Figure 2 A schematic diagram of an implementation environment when the parking method in the embodiments of the present application is applied to a microscopic traffic simulation scenario;

[0037] Figure 3 A schematic diagram of an implementation environment when the parking method in the embodiments of the present application is applied to an intelligent driving scenario;

[0038] Figure 4 A schematic flowchart of the parking method provided by an embodiment of the present application;

[0039] Figure 5 Schematic diagram for dividing the first road

[0040] Figure 6 Parking example diagram for the first stage

[0041] Figure 7 Example diagram of the rotation principle of the vehicle from the first stage to the second stage

[0042] Figure 8 Parking example diagram for the second stage

[0043] Figure 9 Schematic diagram of reversing for the third stage

[0044] Figure 10 Schematic diagram of the reversing principle from the third stage to the fourth stage

[0045] Figure 11 Schematic diagram of reversing for the fourth stage

[0046] Figure 12 Schematic diagram of reversing for the longitudinal movement stage

[0047] Figure 13 Schematic diagram for placing virtual obstacles

[0048] Figure 14 Schematic flow diagram of the parking method provided by an embodiment of the present application

[0049] Figure 15 Schematic block diagram of the parking device provided by an embodiment of the present application

[0050] Figure 16 Schematic block diagram of the electronic device provided by an embodiment of the present application Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0052] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In the embodiments of the present invention, "B corresponding to A" means that B is associated with A. In one implementation, B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, but B can also be determined according to A and / or other information. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server that includes a series of steps or units does not 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. In the description of this application, unless otherwise specified, "a plurality of" means two or more than two.

[0053] The technical solution proposed in this application can be applied to technical fields such as intelligent transportation, vehicle networking, intelligent driving, and cloud computing, and is used to control a vehicle to automatically park in a parallel parking space on the roadside.

[0054] In some embodiments, if the technical solution of the embodiments of this application is applied to intelligent transportation, for example, it can be used in conjunction with an Intelligent Traffic System (ITS) and an Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), etc. Among them, the intelligent transportation system, also known as the Intelligent Transportation System, effectively integrates advanced scientific and technological means (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control and vehicle manufacturing, strengthens the connection between vehicles, roads and users, and thus forms a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy. The intelligent vehicle-road collaborative system, abbreviated as the vehicle-road collaborative system, is a development direction of the intelligent transportation system (ITS). The vehicle-road collaborative system uses advanced wireless communication and new generation Internet and other technologies to comprehensively implement dynamic real-time information interaction between vehicles and between vehicles and roads, and carry out vehicle active safety control and road collaborative management on the basis of full-time and full-space dynamic traffic information collection and fusion, fully realizing the effective collaboration of people, vehicles and roads, ensuring traffic safety, improving traffic efficiency, and thus forming a safe, efficient and environmentally friendly road traffic system.

[0055] Vehicle-to-Everything (V2X) provides vehicle information through sensors and in-vehicle terminals installed on vehicles, and realizes mutual communication between vehicle and vehicle (V2V), vehicle and infrastructure (V2I), vehicle and pedestrian (V2P), and vehicle and network (V2N) through various communication technologies.

[0056] Intelligent driving mainly includes three links: network navigation, autonomous driving, and assisted driving. The prerequisite for intelligent driving is that the selected vehicle meets the dynamic requirements of driving, the sensors on the vehicle can obtain relevant visual and auditory signals and information, and the corresponding servo system is controlled through cognitive computing.

[0057] Among them, autonomous driving is to complete driving behaviors such as lane keeping, overtaking and lane changing, stopping at red lights and going at green lights, and interaction of light signals and horn signals under the control of an intelligent system.

[0058] Assisted driving means that the driver makes corresponding responses to the actual road conditions under a series of prompts from the intelligent system.

[0059] Road network information: detailed road information in the navigation map, mainly used for road network matching, traffic condition information processing, etc.; road network matching is to use the road network database to match the target positioning point to the road node based on the matching algorithm; road network matching is a positioning correction method based on software technology, and its basic idea is to connect the vehicle movement trajectory with the road information in the digital map, and thus obtain the accurate position relative to the map; the algorithm of road network matching is the fusion of the curve matching principle and the geographical space proximity analysis method; the road matching algorithms mainly include network topology algorithms, curve fitting algorithms, similarity algorithms, fuzzy logic algorithms, and road network matching algorithms based on hidden Gaussian Markov models, etc.

[0060] It should be noted that in addition to being applied to scenarios such as intelligent maps, artificial intelligence, intelligent transportation, and assisted driving, the embodiments of the present application can also be applied to other scenario fields, and the embodiments of the present application do not limit this.

[0061] Such as Figure 1As shown in the figure, parking a vehicle in a roadside parallel parking space is a common scenario in road traffic. For example, one or both sides of the road where the vehicle is traveling include multiple parking spaces parallel to the road, and the vehicle is parked in the parallel parking space. With the rapid development of intelligent driving technology, for vehicles with intelligent driving functions or vehicles with assisted driving functions, there is an urgent need for these vehicles to be able to automatically park in roadside parallel parking spaces. However, in current related intelligent driving technologies, such as microscopic traffic simulation technology, the behavior of a vehicle reversing into a parallel parking space cannot be simulated, which leads to a mismatch between the simulation results and the actual situation, thus affecting the popularization and application of intelligent driving technology.

[0062] To solve the above technical problems, an embodiment of the present application proposes a parking method. By receiving a parking instruction to park the vehicle in a parking space, in response to the parking instruction, when a first parking space parallel to and idle on the first road where the vehicle is located is detected on the first road where the vehicle is located, the vehicle parameter information of the vehicle is obtained. Then, based on the vehicle parameter information, the vehicle motion information corresponding to N stages required to control the vehicle to park from the current position into the first parking space is determined, where the N stages include at least one of a stage of reaching the preparation position, a stage of adjusting the reverse angle, a stage of straight reverse, and a stage of steering reverse. In this way, the vehicle can be controlled to park in the first parking space based on the vehicle motion information corresponding to the N stages respectively. That is, in the embodiment of the present application, the process of parking the vehicle in a roadside parallel parking space is divided into four stages: a stage of reaching the preparation position, a stage of adjusting the reverse angle, a stage of straight reverse, and a stage of steering reverse, and the vehicle motion information corresponding to these four stages is determined. Then, based on the vehicle motion information of these four stages, the vehicle is controlled to automatically, accurately, and safely park in the first parking space, and the process of determining the vehicle motion information of each stage is simple, thereby reducing the complexity of roadside parking. In a simulation scenario, the process trajectory of the vehicle parking in a parallel parking space on the side is made closer to reality, so that the simulation results are more realistic. In an intelligent driving scenario, the vehicle can be automatically parked in a roadside parallel parking space, thereby improving the intelligent driving performance of the vehicle.

[0063] In some embodiments, the parking method provided by the embodiment of the present application can be applied to a microscopic traffic simulation scenario to simulate a vehicle reversing into a parallel parking space. Exemplarily, the parking method proposed by the embodiment of the present application can be embedded in the microscopic simulation software TAD Sim to simulate and analyze the vehicle parking on the side in a roadside parallel parking space and the reaction of the following vehicle. In TAD Sim, when the simulated vehicle needs to park in a roadside parking space, the algorithm in this solution will be used to simulate its behavior and the reaction of the following vehicle. After the cut-out process is completed, the algorithm in this solution can exit.

[0064] In some embodiments, the parking method provided by the embodiments of the present application can be applied to a vehicle with intelligent driving functions to control the automatic reverse parking into a parallel parking space on the roadside.

[0065] Next, when the parking method of the embodiments of the present application is applied to a microscopic traffic simulation scenario and an intelligent driving scenario, the implementation environment of the parking method of the embodiments of the present application will be introduced.

[0066] Figure 2 FIG. is a schematic diagram of an implementation environment when the parking method of the embodiments of the present application is applied to a microscopic traffic simulation scenario. As Figure 2 shown, it includes a terminal device 101 and a server 102. The system composed of the terminal device 101 and the server 102 can be understood as a microscopic traffic simulation platform. Among them, the terminal device 101 can be understood as the front end of the microscopic traffic simulation platform and can interact with users. The server 102 can be understood as the back end of the microscopic traffic simulation platform and is used for background data calculation and processing.

[0067] The parking method of the embodiments of the present application can be completed by the terminal device 101 or jointly completed by the terminal device 101 and the server 102.

[0068] In some embodiments, when the parking method of the embodiments of the present application is jointly completed by the terminal device 101 and the server 102, as Figure 2 shown, the user inputs a parking instruction to the terminal device 101, and the parking instruction is used to indicate parking the vehicle into a parallel parking space on the roadside. The terminal device 101 receives the parking instruction input by the user and, in response to the parking instruction, detects and performs an idle parking space detection on the first road where the vehicle is located. When the terminal device 101 detects a first parking space parallel to and idle on the first road, it obtains the vehicle parameter information of the vehicle. Then, the terminal device 101 sends the vehicle parameter information of the vehicle to the server 102. Based on the vehicle parameter information, the server 102 determines the vehicle motion information corresponding to each of the N stages required for controlling the vehicle to park from the current position into the first parking space. The N stages include at least one of the stages of reaching the preparation position, adjusting the reverse angle, straight reverse, and steering reverse. N is a positive integer. Then, the server 102 sends the vehicle motion information corresponding to each of the N stages to the terminal device 101. The terminal device 101 controls the vehicle to park into the first parking space based on the vehicle motion information corresponding to each of the N stages.

[0069] In some embodiments, when the parking method of the embodiments of the present application is completed by the terminal device 101, as Figure 2As shown, the user inputs a parking instruction to the terminal device 101, and this parking instruction is used to indicate parking the vehicle into a parallel parking space on the roadside. The terminal device 101 receives the parking instruction input by the user, and in response to this parking instruction, it detects for available parking spaces on the first road where the vehicle is located. When the terminal device 101 detects a first available parking space parallel to and available on the first road, it obtains the vehicle parameter information of the vehicle. Then, based on the vehicle parameter information, the terminal device 101 determines the vehicle motion information corresponding to N stages required for controlling the vehicle to park from the current position into the first parking space. The N stages include at least one of the following: the stage of reaching the preparation position, the stage of adjusting the reverse angle, the stage of straight reverse, and the stage of steering reverse. N is a positive integer. The terminal device 101 controls the vehicle to park into the first parking space based on the vehicle motion information corresponding to the N stages.

[0070] In some embodiments, the embodiment of the present application divides the first road into a parking space lane and a virtual lane, where the virtual lane is the remaining road surface on the first road except the parking space lane. In this way, the terminal device 101 can also place virtual obstacles at a position parallel to the first parking space on the center line of the virtual lane, so that the following vehicle on the first road can drive based on the virtual obstacles. This can enable the following vehicle to avoid the vehicle being parked, making the process trajectory of the vehicle parked sidewise into the parallel parking space and the reaction of the following vehicle closer to reality, thereby making the simulation result more realistic.

[0071] The embodiment of the present application does not limit the specific type of the terminal device 101. In some embodiments, the terminal device 101 may include but is not limited to: mobile phones, computers, intelligent voice interaction devices, intelligent home appliances, vehicle-mounted terminals, aircraft, wearable intelligent devices, medical devices, etc. The device is often configured with a display device, and the display device can also be a monitor, a display screen, a touch screen, etc. The touch screen can also be a touch panel, a touch screen panel, etc.

[0072] In some embodiments, the server 102 can be one or more. When there are multiple servers, at least two servers are used to provide different services, and / or at least two servers are used to provide the same service. For example, the same service is provided in a load balancing manner. The embodiment of the present application does not limit this. Among them, the above server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The server can also become a node of the blockchain.

[0073] In the embodiments of the present application, the terminal device and the electronic device can be directly or indirectly connected through wired communication or wireless communication, which is not limited in the present application.

[0074] Figure 3 It is a schematic diagram of an implementation environment when the parking method of the embodiments of the present application is applied to an intelligent driving scenario. As Figure 3 shown, it includes: the vehicle 201, the in-vehicle terminal 202, and the network-side device 203. Among them, the in-vehicle terminal 202 is mounted on the vehicle 201.

[0075] The in-vehicle terminal 202 may include a vehicle computer, an on-board unit (OBU), a wireless terminal device, or a wired terminal device, etc. Among them, the wireless terminal device may refer to a device with wireless transceiver functions. The user terminal 101c may be a mobile phone, a tablet computer (Pad), a computer with wireless transceiver functions, a virtual reality (VR) user device, an augmented reality (AR) user device, etc., which is not limited herein. That is to say, the in-vehicle terminal 202 of the embodiments of the present application can be understood as controlling the vehicle

[0076] The network-side device 203 may include a data processing center in the CORS system, a road network information database, etc.

[0077] The network-side device 203 communicates with the in-vehicle terminal 202 through a network. For example, the in-vehicle terminal 202 can obtain satellite data observed by reference stations in the CORS system from the data processing center in the CORS system, or obtain road network information from the road network information database, and determine the position information of the vehicle based on at least one of the satellite data and the road network information.

[0078] Among them, the network may be a 2G, 3G, 4G, 5G communication network or a next-generation communication network.

[0079] In some embodiments, the network-side device 203 may be one or more servers. When there are multiple servers, at least two servers are used to provide different services, and / or at least two servers are used to provide the same service, such as providing the same service in a load balancing manner. The embodiments of the present application do not limit this. Among them, the above-mentioned server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The server can also become a node of the blockchain.

[0080] In some embodiments, as Figure 3 shown, the user inputs a parking instruction to the in-vehicle terminal 202, and this parking instruction is used to indicate parking the vehicle into a parallel parking space on the roadside. The in-vehicle terminal 202 receives the parking instruction input by the user, and in response to this parking instruction, detects the availability of parking spaces on the first road where the vehicle is located. When the in-vehicle terminal 202 detects a first available parking space parallel to the first road on the first road, it obtains the vehicle parameter information of the vehicle. Then, the in-vehicle terminal 202 sends the vehicle parameter information of the vehicle to the network-side device 203. The network-side device 203 determines the vehicle motion information corresponding to N stages required to control the vehicle to park from the current position into the first parking space based on the vehicle parameter information. The N stages include at least one of the stages of reaching the preparation position, adjusting the reverse angle, straight reverse, and steering reverse. N is a positive integer. Then, the network-side device 203 sends the vehicle motion information corresponding to these N stages to the in-vehicle terminal 202. The in-vehicle terminal 202 controls the vehicle to park into the first parking space based on the vehicle motion information corresponding to the N stages.

[0081] It should be noted that the implementation environment of the embodiments of the present application includes but is not limited to Figure 3 shown.

[0082] The technical solutions of the embodiments of the present application will be described in detail below through some embodiments. These several embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0083] Figure 4 It is a schematic flowchart of a parking method provided by an embodiment of the present application. The parking method provided by the embodiments of the present application can be completed by a device with a parking control function, such as a parking device. In one example, in a simulation scenario, the parking device can Figure 2The terminal device or server shown, or the simulation platform composed of terminal devices or servers. In one example, in the intelligent driving scenario, such as Figure 3 As shown, the parking device can be the vehicle itself, an in-vehicle terminal, a control system, a network-side device, or a system composed of an in-vehicle terminal and a network-side device. For ease of description, the embodiments of this application will be described by taking the execution subject as an electronic device as an example.

[0084] Such as Figure 4 As shown, the parking method of the embodiments of this application includes the following steps:

[0085] S101. Receive a parking instruction to park the vehicle itself in a parking space. In response to the parking instruction, when a first parking space parallel to and idle on the first road where the vehicle itself is located is detected, obtain the vehicle parameter information of the vehicle itself.

[0086] In the real world, roadside parking spaces are very common in cities. Vehicles are parked end to end in the rectangular parking spaces drawn on the inner side of the road. In GA / T 850-2021 <Specification for the Setting of Roadside Parking Spaces in Urban Roads>, it is stipulated that for small vehicle berths applicable to small vehicles, the length is 6m and the width is 2.5m, and the remaining width of the lane with roadside parallel parking spaces should be more than 4 meters ( Figure 1 ). Since the front wheels of general vehicles are steering wheels, when parking in a parallel parking space, the reverse parking method is mostly used. However, the behavior and trajectory of reverse parking cannot be simulated in the current simulation software, and furthermore, the avoidance of the following vehicle for the parking behavior cannot be simulated, so the simulation results will not match the reality.

[0087] In the embodiments of this application, the process of reversing the vehicle itself into the first parking space is divided into N stages. For example, it is divided into 4 stages: the stage of reaching the preparation position, the stage of adjusting the reverse angle, the stage of straight reverse, and the stage of steering reverse. The vehicle itself is gradually parked in the first roadside parking space in these 4 stages.

[0088] Specifically, when the vehicle itself is driving on the first road, an object (such as a user) inputs a parking instruction to the electronic device. The embodiments of this application do not limit the specific manner in which the object inputs the parking instruction. For example, the object inputs the parking instruction by voice, gesture, etc., or the object inputs the parking instruction by touching the parking button. After the electronic device receives the parking instruction input by the object, in response to the parking instruction, it detects the idle parking spaces on the first road where the vehicle itself is located. For example, the electronic device detects the idle parking spaces through the camera and / or sensor on the vehicle itself. For example, the electronic device takes pictures of the surrounding environment through the camera on the vehicle itself, detects the idle parking spaces for the captured environment image, and thus obtains the first parking space parallel to and idle on the first road. The embodiments of this application do not limit the specific manner of detecting the first parking space.

[0089] When the electronic device obtains an idle first parking space based on the above steps, it acquires the vehicle parameter information of the vehicle itself. The embodiments of the present application do not limit the specific content of the vehicle parameter information, which can be understood as any information required for parking. For example, the dimension information of the vehicle itself, the maximum or minimum turning radius of the vehicle itself, etc.

[0090] After the electronic device detects an idle first parking space and acquires the vehicle parameter information of the vehicle itself based on the above steps, it executes the following step S102.

[0091] S102: Based on the vehicle parameter information, determine the vehicle motion information corresponding to each of the N stages required to control the vehicle itself to park from the current position into the first parking space.

[0092] Among them, the N stages include at least one of the stages of reaching the preparation position, adjusting the reverse angle, straight reverse, and steering reverse, and N is a positive integer.

[0093] In the embodiments of the present application, when the vehicle needs to park sideways, since the front axle is the steering axle, it generally needs to reverse into the parking space in a way that allows the rear of the vehicle to enter the space first. The process of reversing the vehicle itself into the first parking space is divided into N stages. For example, it is divided into 4 stages: the stage of reaching the preparation position, the stage of adjusting the reverse angle, the stage of straight reverse, and the stage of steering reverse. The vehicle itself is gradually parked into the first roadside parking space in these 4 stages.

[0094] Among them, the stage of reaching the preparation position can be understood as the first stage of parking, that is, when parking the vehicle itself into the first parking space, it is first necessary to control the vehicle itself to drive into this preparation position.

[0095] The stage of adjusting the reverse angle can be understood as the second stage of parking, that is, controlling the vehicle itself located at the preparation position to adjust the reverse angle.

[0096] The stage of straight reverse can be understood as the third stage of parking, that is, controlling the vehicle itself with the adjusted reverse angle to perform a straight reverse.

[0097] The stage of steering reverse can be understood as the fourth stage of reversing, that is, controlling the vehicle itself after straight reverse to perform a turn and then reverse into the first parking space.

[0098] In the embodiments of the present application, the electronic device acquires the vehicle parameter information of the vehicle itself based on the above steps, determines the vehicle motion information corresponding to each of these N stages, and further enables the electronic device to control the vehicle itself to park into the first parking space based on the vehicle motion information corresponding to each stage.

[0099] The following introduces the specific process of the electronic device determining the vehicle motion information corresponding to each of the N stages based on the vehicle parameter information of the vehicle itself.

[0100] In the embodiments of the present application, the vehicle movement information corresponding to each of the N stages may include at least one of the position information of the vehicle itself at the end of the stage and the vehicle trajectory information of the vehicle itself during the stage.

[0101] In some embodiments, if the vehicle movement information corresponding to each of the N stages includes the position information of the vehicle itself at the end of each stage, then step S102 includes the following steps S102-A to S102-D:

[0102] S102-A: Divide the first road into a parking space lane and a virtual lane, where the virtual lane is the remaining road surface of the first road except the parking space lane;

[0103] S102-B: Based on the vehicle parameter information, the parking space lane, and the virtual lane, determine the first position information of the vehicle itself at the end of the arrival preparation position stage;

[0104] S102-C: Based on the vehicle parameter information and the first position information, determine the second position information of the vehicle itself at the end of the adjusting reverse angle stage;

[0105] S102-D: Based on the vehicle parameter information, determine the correspondence between the third position information of the vehicle itself at the end of the straight reverse stage and the fourth position information of the vehicle itself at the end of the steering reverse stage, and based on the correspondence and the preset value of the fourth position information at the end of the steering reverse stage, determine the third position information.

[0106] The embodiments of the present application do not limit the specific type of the vehicle itself and the size of the parking space on the side of the first road. For example, the vehicle itself can be a car, a truck, or a lorry, etc., and the corresponding parking space on the side of the first road can be a car parking space, a truck parking space, or a lorry parking space, etc.

[0107] In some embodiments, if the vehicle in the embodiments of the present application is a car, assume the length is L0 = 4.5 meters and the width is W0 = 1.8 meters.

[0108] In the embodiments of the present application, as Figure 5 shown, the first road is divided into a virtual lane, that is, the first road is divided into a parking space lane and a virtual lane. Assume the length L p of each roadside parallel parking space is 6 meters, and the width W p is 2.5 meters. Consider it as a lane with a width of 2.5 meters and name it the parking space lane. Regard the remaining road surface of the first road except the parking space lane as an independent lane and name it the virtual lane. Assume the width W r of the virtual lane is 4 meters. At that time, the lateral offset D of the parked position of the vehicle itself relative to the center line of the parking space lane yi(Assume that the offset to the outside of the road is positive and negative otherwise), the longitudinal distance between two adjacent parked vehicles in the parking space is D xi 。Assume that the vehicle is currently driving on the center line of the virtual lane. When it is desired to park the vehicle on the side of the first parking space, it is equivalent to a lane-changing process from the center line of the virtual lane to the center line of the parking space lane, and the width W traversed horizontally o =(W p +W r ) / 2=(4 + 2.5) / 2 + 0=3.25 meters. In the embodiments of the present application, the lateral (lane vertical direction y) and longitudinal (lane parallel direction x) movements of the vehicle are considered separately, and their initial lateral and longitudinal speeds are both 0

[0109] In the embodiments of the present application, based on the above steps, the electronic device divides the first road into a parking space lane and a virtual lane, and then based on the vehicle parameter information of the vehicle, the parking space lane and the virtual lane, determines the first position information of the vehicle at the end of the arrival preparation position stage (i.e., the first stage). In some embodiments, the first position information may also be referred to as the position information of the preparation position

[0110] The following introduces the specific process of the electronic device determining the first position information based on the vehicle parameter information of the vehicle, the parking space lane and the virtual lane

[0111] The first position information in the embodiments of the present application can be understood as the position information of the first point on the vehicle. For example, the first point is the center point of the vehicle, the midpoint of the rear axle, the midpoint of the front axle, or any other reference point on the vehicle. That is to say, in the embodiments of the present application, when the first point on the vehicle reaches the position corresponding to the first position information, it is determined that the vehicle reaches the preparation position

[0112] The embodiments of the present application do not limit the specific process of the electronic device determining the first position information based on the vehicle parameter information of the vehicle, the parking space lane and the virtual lane

[0113] In some embodiments, based on the vehicle size information in the vehicle parameter information of the vehicle, the parking space lane and the virtual lane, the first position information is determined. For example, the first position information satisfies the following two conditions. The first condition is that the position corresponding to the first position information is on the virtual lane and in front of the side of the first parking space. The second condition is that based on the vehicle size information, when the vehicle is at the position corresponding to the first position information, any point on the vehicle does not fall into the parking space lane. Combining these two conditions, the first position information can be determined

[0114] In some embodiments, the vehicle parameter information includes the size of the vehicle, and the above S102 - B includes the following steps of S102 - B1 and S102 - B2

[0115] S102 - B1. Obtain the second parking space on the parking lane before the first parking space;

[0116] S102 - B2. Determine the first position information based on the size of the vehicle itself, the second parking space, and the virtual lane.

[0117] As Figure 6 shown, in the embodiment of this application, the vehicle itself travels in the virtual lane at a speed V0, for example, travels on the center line of the virtual lane, and detects an idle first parking space on the first road. The electronic device simultaneously obtains the second parking space on the parking lane before the first parking space. The second parking space is the parking space in the parking lane that is before the first parking space in the driving direction. Then, based on the size of the vehicle itself, the second parking space, and the virtual lane, the first position information is determined.

[0118] In a possible implementation manner, the position corresponding to the first position information is located in the virtual lane and beside the second parking space. In this way, the first position information can be determined based on the size of the vehicle itself and the position information of the second parking space. For example, assume that the first position information is the position information of the center of the rear axle of the vehicle itself. In this way, based on the position information of the second parking space and the size of the vehicle itself, when it is determined that the vehicle itself is on one side of the second parking space in the virtual lane, the position information of the center of the rear axle of the vehicle itself can be determined. For example, based on the position information of the second parking space and the size of the vehicle itself, when it is determined that the rear of the vehicle is aligned with the bottom edge of the second parking space and there is a preset distance between the width of the vehicle and the width of the second parking space, the position information of the center of the rear axle of the vehicle is determined, and this position information is determined as the first position information. The bottom edge of the second parking space is a side edge of the second parking space close to the first parking space.

[0119] In a possible implementation manner, the above S102 - B2 includes the following steps of S102 - B21 and S102 - B22:

[0120] S102 - B21. If there is a first vehicle parked in the second parking space, obtain the position information of the rear of the first vehicle;

[0121] S102 - B22. Determine the first position information based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of the vehicle itself, where the first position information is located in the virtual lane.

[0122] As Figure 6As shown, if there is a vehicle parked in the second parking space, for the convenience of description, this vehicle is denoted as the first vehicle. At this time, when parking this vehicle into the first parking space, the interference of the first vehicle in the second parking space needs to be considered. Based on this, when determining the first position information, the electronic device needs to obtain the position information of the rear of the first vehicle, and then determine the first position information based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of this vehicle, where the first position information is located in the virtual lane.

[0123] The embodiments of the present application do not limit the specific manner in which the electronic device determines the first position information based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of this vehicle.

[0124] In one example, based on the size of this vehicle, the size of the first vehicle, and the maximum turning radius of this vehicle, when determining the first position information of this vehicle, the distance between the rear of this vehicle and the rear of the first vehicle in the x direction, and the preset distance between this vehicle and the first vehicle in the y direction are determined to determine the first position information.

[0125] In one example, based on the position information of the rear of the first vehicle and the size of this vehicle, the x coordinate value in the first position information when the rear of this vehicle is flush with the rear of the first vehicle is determined, and based on the width of the first vehicle, the width of this vehicle, and the preset spacing between this vehicle and the first vehicle in the y direction, the y coordinate value in the first position information is determined.

[0126] For example, as Figure 6 shown, assume the length of this vehicle is L0, the length of the first vehicle is L1, the difference in length between the first vehicle and this vehicle is L1 - L0 = ΔL, the position information of the rear of the first vehicle is (xa, yb), and the distance between the center of the rear axle of this vehicle and the rear of this vehicle is b. If the position of the vehicle is the center position of the vehicle, assume the position coordinates of the center of the first vehicle are (x0, y0). If the rear of this vehicle is aligned with the rear of the first vehicle, the x coordinate value of the center of this vehicle is: x0 - ΔL / 2. If the position of the vehicle is the midpoint position of the rear axle of the vehicle, when the rear of this vehicle is aligned with the rear of the first vehicle, the x coordinate value of the rear of this vehicle is xa. Since the distance between the center of the rear axle of this vehicle and the rear of this vehicle is b, the x coordinate value of the center of the rear axle of this vehicle can be determined as (xa + b).

[0127] Next, based on the width of the first vehicle, the width of this vehicle, and the preset spacing between this vehicle and the first vehicle in the y direction, the y coordinate value in the first position information is determined. For example, adding half of the sum of the width of the first vehicle and the width of this vehicle to the preset spacing gives the y coordinate value in the first position information.

[0128] The embodiments of the present application do not limit the specific value of the preset spacing. According to parking experience, generally, a random number from the normal distribution N(1, 0.2) can be taken, that is, the average value is about 1 meter.

[0129] In an example of this arrival preparation position stage, as Figure 6 shown, assuming that the center line of the parking space lane is the x - coordinate line, then the initial position of the vehicle in this stage on the y - axis is W o =(W p +W r ) / 2. At the end of this stage, the y - coordinate value in the first position information of the vehicle is (W1 + W0) / 2+S y0 , where W0 and W1 are the widths of the vehicle and the first vehicle respectively. When all vehicle models are the same, it can be considered that W1 = W0. At the end of this stage, that is, the coordinates of the center A of the front axle of the vehicle are (A x1 ,A y1 ), and the coordinates of the center B of the rear axle are (B x1 ,B y1 ). Assuming that the first position information is the position information of the center of the rear axle of the vehicle, then at the end of this stage, the first position information of the vehicle is (B x1 ,B y1 ), where B y1 =(W1 + W0) / 2+S y0 .

[0130] Based on the above steps, the electronic device determines the first position information of the vehicle at the end of the arrival preparation position stage, and then executes the steps of S102 - C above. Based on the vehicle parameter information and the first position information, it determines the second position information of the vehicle at the end of the adjusted reverse angle stage.

[0131] For a normal car, the front wheels are the steering wheels, and the rear wheels cannot change direction, while the steering wheel controls the direction of the front wheels. When reversing, if the steering wheel is turned to the left, the front wheels will move backward to the right, and the rear wheels are fixed and will not turn. At this time, as the front wheels move backward to the right, the rear wheels will be pushed and will naturally lean to the left, and the whole vehicle will rotate clockwise around the center point, the front of the vehicle will move to the right, and the rear of the vehicle will turn to the left accordingly, feeling like the car is "fishtailing". Similarly, turning the steering wheel to the right results in a counter - clockwise rotation. Assuming that the wheels do not have axial movement, so if the wheel angle is kept unchanged, each wheel can only move along the direction perpendicular to its axle. Here, taking the axles of the front and rear wheels as the trajectory reference points, the trajectory should be a circle with the intersection of the axial lines of the front and rear wheels as the center O( Figure 7 shown), and the radius of the front - wheel trajectory is greater than the radius of the rear - wheel trajectory. Figure 7Let φ be the angle between the front wheel and the y - direction, the wheelbase between the front and rear wheels be L, the length of the rear axle be W, and the distance between the front axle and the vehicle head be L1. Then the movement trajectory of the rear - wheel center can be described as a circular motion with a radius of L·cot(φ), and the movement trajectory of the front - wheel center can be described as a circular motion with a radius of L·csc(φ). It should be noted that in the Ackermann steering model of an actual front - wheel - drive vehicle, the directions of the two front wheels are not parallel. Here, it is simplified to use a simple bicycle kinematic model, that is, it is assumed that the two front wheels are parallel when turning.

[0132] Based on Figure 7 As shown, in some embodiments, the above S102 - C includes the following steps of S102 - C1 and S102 - C2:

[0133] S102 - C1. Determine the rotation radius of the rear - wheel center of the vehicle based on the minimum turning radius of the vehicle and the wheelbase of the vehicle.

[0134] S102 - C2. Determine the second position information based on the rotation radius of the rear - wheel center of the vehicle, the first angle between the vehicle center line of the vehicle at the end of the reverse - angle adjustment stage and the center line of the first road, and the first position information.

[0135] As Figure 8 shown, the starting position of the reverse - angle adjustment stage is the state at the end of the above - mentioned first stage ( Figure 8 the dashed - line box in Figure 7 ), which is parallel to the lane center line. The vehicle turns the steering wheel fully to the right (corresponding to the minimum turning radius) and starts to reverse, and travels along the Figure 7 trajectory. At the end of this stage, the vehicle center line of the vehicle forms a first angle (such as a 45 - degree angle, with a radian of π / 4) with the center line of the first road.

[0136] When the steering wheel is turned to the extreme position, the distance from the steering center to the ground contact center of the front outer steering wheel is called the minimum turning radius R min . It reflects the ability of the vehicle to pass through a curved road and the ability to turn around on a narrow road surface. When the steering wheel is turned fully, the outer front wheel draws a circle, and the required radius is the minimum turning radius of this vehicle. Since a simple bicycle motion model is selected here, it can be assumed that the distance between the steering center and the center point of the front axle is the turning radius R1. The wheelbase L of a sedan is generally between 2.4 and 2.55 meters. Here, it is not limited, and a random number in the uniform distribution U[2.4, 2.55] can be taken. Generally, the minimum turning radius of a sedan does not exceed 6m. Here, the distance R1 from the center of the front axle of the vehicle to the steering center is taken as R min , which is related to the size and performance of the vehicle. Here, it is not limited. Since the center of the front axle is closer to the steering center than the outer steering wheel, a random number in the uniform distribution U[4, 5] can be taken here.

[0137] As shown Figure 7 , the rotation radius of the rear wheel center of the vehicle can be determined based on the minimum turning radius R min of the vehicle and the wheelbase L of the vehicle. Specifically, as shown Figure 7 , for a right triangle with the minimum turning radius R min of the vehicle as the hypotenuse and the wheelbase L of the vehicle as one of the right sides, φ = arcsin(L / R min ) can be calculated, and then the rotation radius of the rear wheel center can be determined as R2 = R1·cos(φ). Further, assuming the coordinates of the front axle center A are (A x , A y ), and the coordinates of the rear axle center B are (B x , B y ), the coordinates of the steering center O can be calculated as (B x , B y - R1·cos(φ)). Figure 7 In Figure 7 , the turning radius of the right front corner of the vehicle is R RF = (R2 - W / 2)·sec(arctan((L + L1) / (R2 - W / 2)).

[0138] Next, based on the rotation radius of the rear wheel center of the vehicle, the first angle between the vehicle center line of the vehicle and the center line of the first road at the end of the reverse angle adjustment stage, and the first position information, the second position information is determined.

[0139] The embodiments of the present application do not limit the specific manner in which the electronic device determines the second position information based on the rotation radius of the rear wheel center of the vehicle, the first angle between the vehicle center line of the vehicle and the center line of the first road at the end of the reverse angle adjustment stage, and the first position information.

[0140] In one example, the above first angle is determined by the specific parameters of the vehicle. For example, the first angle is 45 degrees. As shown Figure 7 , when the vehicle reverses from the horizontal position A to the inclined position B, the first angle between the vehicle center line of the vehicle and the center line of the first road, so that the moving distance of the vehicle in this reverse angle adjustment stage can be determined based on the first angle and the rotation radius of the rear wheel center of the vehicle, and then the second position information of the vehicle at the end of the reverse angle adjustment stage can be determined based on the moving distance and the first position information.

[0141] In a possible implementation, based on the turning radius of the rear wheel center of the vehicle and the first angle, determine the first moving distances of the vehicle in the x-direction and y-direction from the end of the stage of reaching the preparation position to the end of the stage of adjusting the reverse angle. Furthermore, based on the x-coordinate value in the first position information and the first moving distance of the vehicle in the x-direction, determine the x-coordinate value in the second position information, and based on the y-coordinate value in the first position information and the first moving distance of the vehicle in the y-direction, determine the y-coordinate value in the second position information.

[0142] Exemplarily, the product of the sine value of the first angle and the turning radius of the rear wheel center of the vehicle is determined as the first moving distance of the vehicle in the x-direction.

[0143] For example, through the following formula (1), determine the first moving distance of the vehicle in the x-direction:

[0144] Dx = R2·sin(θ) (1)

[0145] Where Dx is the first moving distance of the vehicle in the x-direction at the end of the stage of adjusting the reverse angle, θ is the first angle, and R2 is the turning radius of the rear wheel center.

[0146] Exemplarily, multiply the cosine value of the first angle by the turning radius of the rear wheel center of the vehicle to obtain a first value. Furthermore, determine the difference between the turning radius of the rear wheel center of the vehicle and the first value as the first moving distance of the vehicle in the y-direction.

[0147] For example, through the following formula (2), determine the first moving distance of the vehicle in the y-direction:

[0148] Dy = R2 - R2·cos(θ) (2)

[0149] Where Dy is the first moving distance of the vehicle in the y-direction at the end of the stage of adjusting the reverse angle, θ is the first angle, R2 is the turning radius of the rear wheel center, and R2·cos(θ) is the first value.

[0150] It should be noted that in the embodiments of the present application, in addition to the above methods for determining the first moving distances of the vehicle in the x-direction and y-direction at the end of the stage of adjusting the reverse angle, other methods may also be included. For example, equivalent substitution of the above formula (1) and formula (2), or adding or subtracting a certain coefficient in formula (1) or formula (2), or modifying formula (1) or formula (2) to determine the first moving distances of the vehicle in the x-direction and y-direction at the end of the stage of adjusting the reverse angle. The embodiments of the present application do not limit this.

[0151] Based on the above steps, after determining the first moving distances of the vehicle in the x - direction and y - direction at the end of the reverse angle adjustment stage, based on the x - coordinate value in the first position information and the first moving distance of the vehicle in the x - direction, determine the x - coordinate value in the second position information. For example, determine the x - coordinate value in the second position information by taking the difference between the x - coordinate value in the first position information and the first moving distance of the vehicle in the x - direction.

[0152] For example, determine the x - coordinate value in the second position information through the following formula (3):

[0153] B x2 = B x1 -R2·sin(θ) (3)

[0154] Wherein, B x2 is the x - coordinate value in the second position information of the vehicle at the end of the reverse angle adjustment stage, B x1 is the x - coordinate value in the first position information of the vehicle at the end of the reaching the preparation position stage, and R2·sin(θ) is the first moving distance of the vehicle in the x - direction at the end of the reverse angle adjustment stage.

[0155] Similarly, based on the y - coordinate value in the first position information and the first moving distance of the vehicle in the y - direction, determine the y - coordinate value in the second position information. For example, determine the y - coordinate value in the second position information by taking the difference between the y - coordinate value in the first position information and the first moving distance of the vehicle in the y - direction.

[0156] For example, determine the y - coordinate value in the second position information through the following formula (4):

[0157] B y2 = B y1 -(R2 - R2·cos(θ)) (4)

[0158] Wherein, B y2 = is the y - coordinate value in the second position information of the vehicle at the end of the reverse angle adjustment stage, B y1 is the y - coordinate value in the first position information of the vehicle at the end of the reaching the preparation position stage, and R2 - R2·cos(θ) is the first moving distance of the vehicle in the y - direction at the end of the reverse angle adjustment stage.

[0159] As can be seen from the above, during the reverse angle adjustment stage, the electronic device can calculate the position and attitude of the vehicle at each simulation step in this stage according to the minimum turning radius R min of the vehicle and the coordinates of the steering center O. After this stage, the coordinates of the front - axle center A are (A x2 , A y2 ), and the coordinates of the rear - axle center B are (B x2 , By2 )。The above uses the center of the rear axle as the trajectory point, and determines the position information of the center of the rear axle as the position information of the vehicle. Optionally, the center of the front axle can also be used as the trajectory point, and the position information of the center of the front axle can be calculated using the same principle (A x2 , A y2 ), and then determine the position information of the center of the front axle as the position information of the vehicle.

[0160] Based on the above steps, the electronic device determines the second position information (B x2 , B y2 ) of the vehicle at the end of the stage of adjusting the reverse angle. Then, perform the steps of S102-D above. Based on the vehicle parameter information, determine the correspondence between the third position information of the vehicle at the end of the straight reverse stage and the fourth position information of the vehicle at the end of the steering reverse stage, and based on the correspondence and the preset value of the fourth position information at the end of the steering reverse stage, determine the third position information.

[0161] The third stage of the embodiment of the present application is the straight reverse stage, and the fourth stage is the steering reverse stage. The position of the vehicle at the end of the steering reverse stage is the position corresponding to the fourth position information. In the embodiment of the present application, at the end of the fourth stage, the vehicle has reversed to the preset position in the first parking space. Therefore, the fourth position information of the vehicle at the end of the fourth stage is the preset position. Based on this, the third position information of the vehicle at the end of the third stage can be determined based on the correspondence between the third position information of the vehicle at the end of the third stage and the fourth position information of the vehicle at the end of the fourth stage.

[0162] In the straight reverse stage (the third stage), as Figure 9 shown, the vehicle reverses backward while maintaining the body at the end of the previous stage forming a first included angle (such as a 45-degree angle) with the center line of the first road. The ultimate goal of this stage is to start at a position forming a first included angle (such as a 45-degree angle) with the lane center line in the fourth stage and directly reverse along the Figure 10 trajectory into the center line of the parking space lane. In the simulation, when the vehicle is preparing for parallel parking, the positions that can be reached in N stages have been planned. Therefore, the lateral displacement of the vehicle in the third stage is D y3 = B y2 - B y3 .

[0163] In the steering reverse stage (i.e., the fourth stage), as Figure 11 shown, the starting position of this stage is the position (dashed box) at the end of the above third stage, forming a first included angle with the lane center line. The vehicle turns the steering wheel all the way to the left (corresponding to the minimum turning radius) and starts to reverse to the position shown by the solid line box in Figure 11 . Among them, it reverses from the position corresponding to the third position information at the end of the third stage to the position shown by the solid line box inFigure 11 When at the position corresponding to the fourth position information in the solid line frame, the reverse trajectory of the vehicle is as Figure 10 shown.

[0164] Based on Figure 10 As shown, in some embodiments, if the parameter information of the vehicle includes the minimum turning radius of the vehicle and the axle spacing between the front axle and the rear axle of the vehicle, then in the above S102-D, based on the vehicle parameter information, determining the correspondence between the third position information of the vehicle at the end of the straight reverse stage and the fourth position information of the vehicle at the end of the steering reverse stage includes the following steps S102-D1 and S102-D2:

[0165] S102-D1. Determine the rotation radius of the center of the rear wheels of the vehicle based on the minimum turning radius of the vehicle and the axle spacing of the vehicle;

[0166] S102-D2. Determine the correspondence between the third position information of the vehicle at the end of the straight reverse stage and the fourth position information of the vehicle at the end of the steering reverse stage based on the rotation radius of the center of the rear wheels of the vehicle and the first included angle between the vehicle center line of the vehicle at the end of the straight reverse stage and the center line of the first road.

[0167] In this implementation manner, the electronic device first determines the rotation radius of the center of the rear wheels of the vehicle based on the minimum turning radius of the vehicle and the axle spacing of the vehicle. The specific process can refer to the description of the above embodiments and will not be elaborated here. Then, based on the rotation radius of the center of the rear wheels of the vehicle and the first included angle between the vehicle center line of the vehicle at the end of the straight reverse stage and the center line of the first road, determine the correspondence between the third position information of the vehicle at the end of the straight reverse stage and the fourth position information of the vehicle at the end of the steering reverse stage. It should be noted that since the third stage is the straight reverse stage and the included angle between the vehicle and the center line of the first road remains unchanged, therefore, at the end of the third stage, the included angle between the vehicle center line of the vehicle and the center line of the first road is still the first included angle.

[0168] The embodiments of the present application do not limit the specific manner in which the electronic device determines the correspondence between the third position information of the vehicle at the end of the straight reverse stage and the fourth position information of the vehicle at the end of the steering reverse stage based on the rotation radius of the center of the rear wheels of the vehicle and the first included angle between the vehicle center line of the vehicle at the end of the straight reverse stage and the center line of the first road.

[0169] Such as Figure 10As shown in the figure, when the vehicle reverses from the inclined position B to the horizontal position C and adjusts the angle, the moving distance of the vehicle in the steering and reversing angle stage can be determined based on the first included angle and the rotation radius of the rear wheel center of the vehicle. Then, based on this moving distance and the third position information, the fourth position information of the vehicle at the end of the adjusted reversing angle stage can be determined, and thus the corresponding relationship between the fourth position information and the third position information can be obtained.

[0170] In a possible implementation, the electronic device determines the second moving distances of the vehicle in the x-direction and y-direction from the end of the straight reversing stage to the end of the steering and reversing stage based on the rotation radius of the rear wheel center of the vehicle and the first included angle; determines the difference between the x-coordinate value in the third position information and the second moving distance of the vehicle in the x-direction as the x-coordinate value in the fourth position information; and determines the difference between the y-coordinate value in the third position information and the second moving distance of the vehicle in the y-direction as the y-coordinate value in the fourth position information.

[0171] Exemplarily, the product of the sine value of the first included angle and the rotation radius of the rear wheel center of the vehicle is determined as the second moving distance of the vehicle in the x-direction.

[0172] Exemplarily, the cosine value of the first included angle is multiplied by the rotation radius of the rear wheel center of the vehicle to obtain a second value, and then the difference between the rotation radius of the rear wheel center of the vehicle and the second value is determined as the second moving distance of the vehicle in the y-direction.

[0173] It should be noted that in the embodiments of the present application, in addition to the above methods for determining the second moving distances of the vehicle in the x-direction and y-direction at the end of the steering and reversing angle stage, other methods may also be included, such as adding or subtracting a certain coefficient to the above product or difference, or correcting the above product or difference to determine the second moving distances of the vehicle in the x-direction and y-direction at the end of the steering and reversing angle stage. The embodiments of the present application do not limit this.

[0174] Based on the above steps, after determining the second moving distances of the vehicle in the x-direction and y-direction at the end of the steering and reversing angle stage, the x-coordinate value in the fourth position information is determined based on the x-coordinate value in the third position information and the second moving distance of the vehicle in the x-direction. For example, the difference between the x-coordinate value in the third position information and the second moving distance of the vehicle in the x-direction is determined as the x-coordinate value in the fourth position information.

[0175] For example, the x-coordinate value in the fourth position information is determined through the following formula (5):

[0176] B x4 =B x3 -R2·sin(θ) (5)

[0177] Where Bx4 To adjust the x - coordinate value in the fourth position information of the vehicle at the end of the reverse angle adjustment stage, B x3 is the x - coordinate value in the third position information of the vehicle at the end of the straight - line reverse stage, and R2·sin(θ) is the second moving distance of the vehicle in the x - direction at the end of the reverse angle adjustment stage.

[0178] Similarly, based on the y - coordinate value in the third position information and the second moving distance of the vehicle in the y - direction, the y - coordinate value in the fourth position information is determined. For example, the difference between the y - coordinate value in the third position information and the second moving distance of the vehicle in the y - direction is used to determine the y - coordinate value in the fourth position information.

[0179] For example, the y - coordinate value in the fourth position information is determined by the following formula (6):

[0180] B y4 = B y3 -(R2 - R2·cos(θ)) (4)

[0181] where B y4 is the y - coordinate value in the fourth position information of the vehicle at the end of the reverse angle adjustment stage, B y3 is the y - coordinate value in the third position information of the vehicle at the end of the straight - line reverse stage, and R2 - R2·cos(θ) is the second moving distance of the vehicle in the y - direction at the end of the reverse angle adjustment stage.

[0182] As described above, in the reverse steering angle stage, the electronic device can calculate the position and attitude of the vehicle at each simulation step based on the minimum turning radius R min of the vehicle and the coordinates of the steering center O. After this stage, the coordinates of the front - axle center A are (A x4 , A y4 ), and the coordinates of the rear - axle center B are (B x4 , B y4 ). The above takes the rear - axle center as the trajectory point and determines the position information of the rear - axle center as the position information of the vehicle. Optionally, the front - axle center can also be used as the trajectory point, and using the same principle, the position information of the front - axle center (A x4 , A y4 ) can be calculated, and then the position information of the front - axle center is determined as the position information of the vehicle.

[0183] After determining the corresponding relationship between the third position information of the vehicle at the end of the straight - line reverse stage and the fourth position information of the vehicle at the end of the reverse steering stage based on the above steps, based on this corresponding relationship and the preset value of the fourth position information at the end of the reverse steering stage, the third position information is determined.

[0184] For example, assume that when the center line of the parking lane is taken as the zero point horizontally, the positions of other stages can be calculated inversely, that is, B y4 = 0, and B y4 = B y3 -(R2 - R2·cos(θ)), then the y - coordinate value B y3 of the vehicle's third position information at the end of the third stage = R2 - R2·cos(θ). As can be seen from the above, the y - coordinate value B y1 of the vehicle's first position information at the end of the first stage = (W1 + W0) / 2 + S y0 , and the y - coordinate value B y2 of the vehicle's second position information at the end of the second stage = B y1 -(R2 - R2·cos(θ)). Substitute B y1 = (W1 + W0) / 2 + S y0 into B y2 = B y1 -(R2 - R2·cos(θ)), and we can get B y2 = (W1 + W0) / 2 + S y0 - R2 + R2·cos(θ).

[0185] In one example, assume L = 2.4, R min = 5, W1 = W0 = 1.8, S y0 = 1, θ = 45°. Then, based on the above - mentioned calculation formulas, the rotation radius R2 of the center of the vehicle's rear wheels can be determined as R2 = 5*cos(arcsin(2.4 / 5)) = 4.39. The y - coordinate value B y1 of the vehicle's first position information at the end of the first stage = 2.8. The y - coordinate value B y2 of the vehicle's second position information at the end of the second stage = 2.8 - 4.39 + 4.39*0.707 = 1.51. The y - coordinate value B y3 of the vehicle's third position information at the end of the third stage = 4.39 - 4.39*0.707 = 1.28. Furthermore, the distance D y3 that the vehicle moves horizontally at the end of the third stage can be determined as D y2 = B y3 - B

[0186] By dividing the process of laterally parking into the roadside parallel parking space into 4 stages, and based on the vehicle parameter information of the vehicle, the position information of the vehicle at the end of each of these 4 stages is determined. In this way, when reversing into the roadside parallel parking space, based on the position information of the vehicle at the end of each of the above - mentioned 4 stages, parking is carried out in 4 stages to accurately park the vehicle into the first parking space.

[0187] In some embodiments, the vehicle motion information corresponding to each of the N stages further includes the vehicle trajectory information of each stage.

[0188] Among them, the vehicle trajectory information in the arrival preparation position stage includes: the vehicle travels from the current position to the first position corresponding to the first position information, and the first position is parallel to the center line of the parking space lane;

[0189] The vehicle trajectory information in the adjusting reverse angle stage includes: after the vehicle turns the steering wheel to the right full lock, it reverses from the first position to the second position corresponding to the second position information;

[0190] The vehicle trajectory information in the straight reverse stage includes: after the vehicle straightens the steering wheel, it reverses from the second position to the third position corresponding to the third position information;

[0191] The vehicle trajectory information in the steering reverse stage includes: after the vehicle turns the steering wheel to the left full lock, it reverses from the third position to the fourth position corresponding to the fourth position information.

[0192] In the embodiments of the present application, after the electronic device determines the vehicle motion information corresponding to each of the N stages based on the above steps, it executes the following steps of S103.

[0193] S103: Control the vehicle to park in the first parking space based on the vehicle motion information corresponding to the N stages respectively.

[0194] As can be seen from the above embodiments, in the embodiments of the present application, the electronic device determines the position information of the vehicle at the end of each of the N stages and the vehicle trajectory information of the vehicle in each stage based on the above steps, and then controls the vehicle to park in the first parking space in N stages based on the vehicle trajectory information of each stage and the position information of the vehicle at the end of each stage.

[0195] Exemplarily, the electronic device controls the vehicle to travel from the current position to the first position corresponding to the first position information, and the first position is parallel to the center line of the parking space lane. Then, it controls the vehicle to reverse from the first position to the second position corresponding to the second position information after turning the steering wheel to the right full lock. Then, it controls the vehicle to reverse from the second position to the third position corresponding to the third position information after straightening the steering wheel, and finally, it controls the vehicle to reverse from the third position to the fourth position corresponding to the fourth position information after turning the steering wheel to the left full lock.

[0196] In some embodiments, in the embodiments of the present application, in addition to determining the position information of the vehicle at the end of each of the N stages and the vehicle trajectory information of the vehicle in each stage, the time-consuming information corresponding to each stage is also determined, that is, the time spent in executing each stage.

[0197] In some embodiments, the time-consuming information corresponding to each of the above N stages is a preset value.

[0198] In one example, for the first stage, the time T1 required for the vehicle to reach the preparation position (i.e., the first position) from the current position (i.e., the time-consuming information corresponding to the first stage), its magnitude is not limited. In one example, the time-consuming information corresponding to the first stage can be set as a function of the aggressiveness of the vehicle driver. For example, the time for the first stage is T1 = T0·(1 + A). Where T0 is a constant, such as 2.5 s, and A is the aggressiveness of the vehicle, which can be solved for its lateral position based on a fifth-degree polynomial method, which will not be elaborated here. Longitudinally, within the same T1 time, the longitudinal speed can be reduced from V0 to 0 at a uniform deceleration.

[0199] In some embodiments, the electronic device can determine the time-consuming information corresponding to each of the N stages based on the vehicle parameter information of the vehicle itself and the aggressiveness corresponding to the vehicle itself.

[0200] In one example, for each of the N stages, different vehicle parameter information and different aggressiveness levels are used to set different time-consuming information. In this way, the electronic device can determine the time-consuming information corresponding to this stage from different time-consuming information based on the vehicle parameter information of the vehicle itself and the aggressiveness corresponding to the vehicle itself. That is to say, in this example, each of the N stages corresponds to a table. Exemplarily, for the i-th stage, the table corresponding to the i-th stage is shown in Table 1:

[0201] Table 1

[0202]

[0203] The above Table 1 shows the table corresponding to the i-th stage, and each of the N stages corresponds to a table. In this way, the electronic device can query Table 1 above based on the vehicle parameter information of the vehicle itself and the aggressiveness level to obtain the time-consuming information corresponding to the i-th stage.

[0204] In one example, for different vehicle parameter information and different aggressiveness levels, the time-consuming information corresponding to each of the N stages is set. In this way, the electronic device can determine the time-consuming information corresponding to each of the N stages based on the vehicle parameter information of the vehicle itself and the aggressiveness corresponding to the vehicle itself. That is to say, in this example, the N stages correspond to a table. Exemplarily, the time-consuming information of the N stages corresponding to different vehicle parameter information and different aggressiveness levels is shown in Table 2:

[0205] Table 2

[0206]

[0207] The above Table 2 shows the time-consuming information corresponding to N stages under different vehicle parameter information and aggressiveness levels. In this way, the electronic device can, based on the vehicle parameter information and aggressiveness level of the vehicle itself, query the above Table 2 to obtain the time-consuming information corresponding to each node in the N stages.

[0208] Based on the above steps, the electronic device determines the time-consuming T1 corresponding to the arrival at the preparation position stage, the time-consuming T2 corresponding to the adjustment of the reverse angle stage, the time-consuming T3 corresponding to the straight reverse stage, and the time-consuming T4 corresponding to the steering reverse stage.

[0209] In this way, the electronic device can, based on the time-consuming information corresponding to the arrival at the preparation position stage, control the vehicle to travel from the current position to the first position; based on the time-consuming information corresponding to the adjustment of the reverse angle stage, control the vehicle to turn the steering wheel fully to the right and then reverse from the first position to the second position; based on the time-consuming information corresponding to the straight reverse stage, control the vehicle to straighten the steering wheel and then reverse from the second position to the third position; based on the time-consuming information corresponding to the steering reverse stage, control the vehicle to turn the steering wheel fully to the left and then reverse from the third position to the fourth position.

[0210] In some embodiments, after the electronic device, based on the time-consuming information corresponding to the steering reverse stage, controls the vehicle to turn the steering wheel fully to the left and then reverse from the third position to the fourth position, the electronic device also detects whether the fourth position is the target parking position of the first parking space. If it is detected that the fourth position is not the target parking position in the first parking space, then control the vehicle to straighten the steering wheel and move back and forth along the center line of the parking space lane in the first parking space so that the vehicle is parked at the target parking position.

[0211] That is to say, the embodiment of the present application further includes a fifth stage (i.e., the longitudinal adjustment stage). The starting position of this stage is the state at the end of the above fourth stage (such as Figure 12 the dashed box in), and at the end of this stage, the vehicle is in the center of the parallel parking space, parallel to the center line of the lane, and there is only a longitudinal distance adjustment compared with the fourth stage. Depending on the position of the parking space, the vehicle may move backward, forward, or not need to be adjusted. The driving direction of the vehicle in this stage is parallel to the center line of the lane, and the adjustment time (i.e., the time-consuming) T5 required for this stage is defined. If T5>0, then there will also be a time T for shifting gears (from R to D, forward adjustment) or straightening the steering wheel (backward adjustment) between the fourth stage and the fifth stage. 45 Here, the magnitude of this value T 45 is not limited, and it can be set as a function of the vehicle aggressiveness level. For example, the more aggressive, the smaller this value.

[0212] In some embodiments, between the second stage and the third stage, and between the third stage and the fourth stage, there may also be a state switching time T 23 ,T34 etc. It can be set such that the more aggressive the vehicle is, the smaller this value is (the minimum value T 23 = T 34 = 0), that is, the faster it switches to the next state.

[0213] In summary, the total time required to complete the entire parking process is T1 + T 12 + T2 + T 23 + T3 + T 34 + T4 + T 45 + T5.

[0214] The parking method proposed in the embodiments of the present application can be applied to intelligent driving simulation scenarios and intelligent driving scenarios.

[0215] In some embodiments, in the intelligent driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the arrival at the ready position, a virtual obstacle is placed at a position parallel to the first parking space on the center line of the virtual lane, so that the vehicle behind on the first road travels based on the virtual obstacle.

[0216] Specifically, as Figure 13 shown, during the first to fourth stages, part of the vehicle is still in the virtual lane on the first road, which will affect the vehicle behind on this first road. In the simulation, a virtual obstacle (such as a virtual vehicle) is placed at the rear edge of the first parking space where the vehicle is about to park, so that the rear edge of the virtual obstacle is flush with the rear edge of the first parking space, and at the same time, this virtual obstacle is only visible to the vehicle behind and not visible to the vehicle itself (that is, there will be no avoidance behavior of the vehicle itself towards the virtual obstacle). The vehicle behind will use this virtual obstacle as the leading vehicle in the microscopic car-following model to update its speed, acceleration, and position. After the time periods of T1 to T4, it is considered that all parts of the vehicle have entered the parking space lane, and at this time, this virtual obstacle can be removed, and the vehicle behind will drive normally on the first road. Through this method, the impact of the vehicle itself on the surrounding road traffic during the entire parking process can be simulated.

[0217] In some embodiments, when placing a virtual obstacle while the vehicle is parking, sometimes it is not necessary to wait until all of the time periods of T1 to T4 have passed. If the part of the vehicle remaining in the virtual lane no longer affects the straight-line driving of the vehicle behind (for example, T1 to T4 = 10s, and maybe when it reaches 9 seconds, the part of the vehicle remaining in the virtual lane no longer blocks the straight-line driving of the vehicle behind), the virtual obstacle can be removed some time in advance without waiting until all of the time periods of T1 to T4 have passed.

[0218] In some embodiments, in an intelligent driving simulation scenario, when controlling the host vehicle to travel from the current position to a first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the arrival preparation position stage, the position information and size information of a virtual obstacle are sent to the following vehicle, so that the following vehicle can drive based on the position information and size information of the virtual obstacle. The position information of the virtual obstacle is the position parallel to the first parking space on the center line of the virtual lane. That is to say, in the intelligent driving scenario, when the host vehicle starts to reverse, the position information and size information of the virtual obstacle are sent to the following vehicle to enable the following vehicle to avoid, which can reduce the impact on the following vehicle when the host vehicle parks, and further improve the usability and reliability of intelligent driving.

[0219] The parking method provided by the embodiments of the present application receives a parking instruction to park the host vehicle in a parking space. In response to the parking instruction, when a first parking space parallel to and idle on the first road where the host vehicle is located is detected, the vehicle parameter information of the host vehicle is obtained. Then, based on the vehicle parameter information, the vehicle motion information corresponding to N stages required to control the host vehicle to park from the current position into the first parking space is determined, where the N stages include at least one of the arrival preparation position stage, the reverse angle adjustment stage, the straight reverse stage, and the steering reverse stage. In this way, the host vehicle can be controlled to park in the first parking space based on the vehicle motion information corresponding to the N stages respectively. That is, in the embodiments of the present application, the process of parking the host vehicle in a roadside parallel parking space is divided into four stages: the arrival preparation position stage, the reverse angle adjustment stage, the straight reverse stage, and the steering reverse stage, and the vehicle motion information corresponding to these four stages is determined. Then, based on the vehicle motion information of these four stages, the vehicle is controlled to automatically, accurately, and safely park in the first parking space, and the process of determining the vehicle motion information of each stage is simple, thereby reducing the complexity of roadside parking. In the simulation scenario, the process trajectory of parking the vehicle on the side into a parallel parking space is closer to reality, making the simulation results more realistic. In the intelligent driving scenario, the vehicle can be automatically parked in a roadside parallel parking space, thereby improving the intelligent driving performance of the vehicle and promoting the popularization and application of intelligent driving technology.

[0220] The above text gives an overall introduction to the parking method proposed in the embodiments of the present application. On the basis of the above embodiments, the following Figure 14 further introduces the parking method provided by the embodiments of the present application.

[0221] Figure 14 is a schematic flowchart of the parking method provided by an embodiment of the present application.

[0222] As Figure 14 shown, the parking method of the embodiments of the present application includes:

[0223] S201. Receive a parking instruction to park the vehicle in a parking space. In response to the parking instruction, when a first parking space parallel to and vacant on the first road where the vehicle is located is detected, obtain the vehicle parameter information of the vehicle.

[0224] For the specific implementation process of the above S201, reference may be made to the relevant description of the above S101, which will not be elaborated here.

[0225] S202. Based on the vehicle parameter information, determine the vehicle motion information corresponding to the N stages required for controlling the vehicle to park from the current position into the first parking space.

[0226] In some embodiments, the vehicle motion information corresponding to each of the N stages includes the position information of the vehicle at the end of each stage. At this time, the electronic device divides the first road into a parking space lane and a virtual lane, and the virtual lane is the remaining road surface of the first road except the parking space lane; based on the vehicle parameter information, the parking space lane, and the virtual lane, determine the first position information of the vehicle at the end of the arrival preparation position stage; based on the vehicle parameter information and the first position information, determine the second position information of the vehicle at the end of the adjustment reverse angle stage; based on the vehicle parameter information, determine the correspondence between the third position information of the vehicle at the end of the straight reverse stage and the fourth position information of the vehicle at the end of the steering reverse stage, and based on the correspondence and the preset value of the fourth position information at the end of the steering reverse stage, determine the third position information.

[0227] In one example, the vehicle parameter information includes the size of the vehicle. Based on the vehicle parameter information, the parking space lane, and the virtual lane, determining the first position information of the vehicle at the end of the arrival preparation position stage includes: obtaining a second parking space on the parking space lane before the first parking space; based on the size of the vehicle, the second parking space, and the virtual lane, determine the first position information. For example, if a first vehicle is parked in the second parking space, obtain the position information of the rear of the first vehicle, and based on the position information of the rear of the first vehicle and the size of the vehicle, determine the x coordinate value in the first position information when the rear of the vehicle is flush with the rear of the first vehicle, and based on the width of the first vehicle, the width of the vehicle, and the preset spacing between the vehicle and the first vehicle in the y direction, determine the y coordinate value in the first position information.

[0228] In one example, the parameter information of the vehicle includes the minimum turning radius of the vehicle itself and the axle spacing between the front axle and the rear axle of the vehicle itself; determining the second position information of the vehicle itself at the end of the adjusted reverse angle stage based on the vehicle parameter information and the first position information includes: determining the rotation radius of the center of the rear wheels of the vehicle itself based on the minimum turning radius of the vehicle itself and the axle spacing of the vehicle itself; determining the second position information based on the rotation radius of the center of the rear wheels of the vehicle itself, the first included angle between the vehicle center line of the vehicle itself and the center line of the first road at the end of the adjusted reverse angle stage, and the first position information. For example, based on the rotation radius of the center of the rear wheels of the vehicle itself and the first included angle, determining the first moving distances in the x-direction and the y-direction of the vehicle itself from the end of the arrival preparation position stage to the end of the adjusted reverse angle stage; determining the x-coordinate value in the second position information based on the x-coordinate value in the first position information and the first moving distance of the vehicle itself in the x-direction; determining the y-coordinate value in the second position information based on the y-coordinate value in the first position information and the first moving distance of the vehicle itself in the y-direction.

[0229] In one example, the parameter information of the vehicle includes the minimum turning radius of the vehicle itself and the axle spacing between the front axle and the rear axle of the vehicle itself; determining the correspondence between the third position information of the vehicle itself at the end of the straight reverse stage and the fourth position information of the vehicle itself at the end of the steering reverse stage based on the vehicle parameter information includes: determining the rotation radius of the center of the rear wheels of the vehicle itself based on the minimum turning radius of the vehicle itself and the axle spacing of the vehicle itself; determining the correspondence based on the rotation radius of the center of the rear wheels of the vehicle itself and the first included angle between the vehicle center line of the vehicle itself and the center line of the first road at the end of the straight reverse stage. For example, based on the rotation radius of the center of the rear wheels of the vehicle itself and the first included angle, determining the second moving distances in the x-direction and the y-direction of the vehicle itself from the end of the straight reverse stage to the end of the steering reverse stage; determining the x-coordinate value in the fourth position information by taking the difference between the x-coordinate value in the third position information and the second moving distance of the vehicle itself in the x-direction; determining the y-coordinate value in the fourth position information by taking the difference between the y-coordinate value in the third position information and the second moving distance of the vehicle itself in the y-direction.

[0230] In some embodiments, the vehicle motion information corresponding to each of the N stages further includes the vehicle trajectory information of each stage; wherein, the vehicle trajectory information of the arrival preparation position stage includes: the vehicle itself travels from the current position to the first position corresponding to the first position information, and the first position is parallel to the center line of the parking space lane; the vehicle trajectory information of the adjusted reverse angle stage includes: the vehicle itself reverses from the first position to the second position corresponding to the second position information after turning the steering wheel to the right full lock; the vehicle trajectory information of the straight reverse stage includes: the vehicle itself reverses from the second position to the third position corresponding to the third position information after straightening the steering wheel; the vehicle trajectory information of the steering reverse stage includes: the vehicle itself reverses from the third position to the fourth position corresponding to the fourth position information after turning the steering wheel to the left full lock.

[0231] For the relevant description of S202 above, reference may be made to the relevant description of S102 above, which will not be elaborated here.

[0232] S203. Determine the time-consuming information corresponding to N stages based on the vehicle parameter information and the aggressiveness level corresponding to the vehicle itself.

[0233] For example, based on the vehicle parameter information of the vehicle itself and the aggressiveness level corresponding to the vehicle itself, determine the time-consuming information corresponding to the N stages corresponding to the vehicle itself from the time-consuming information of different stages corresponding to different vehicle reference information and different aggressiveness levels.

[0234] S204. Based on the time-consuming information corresponding to the stage of reaching the preparation position, control the vehicle to drive from the current position to the first position corresponding to the first position information, and place a virtual obstacle beside the first parking space, so that the following vehicle on the first road can drive based on the virtual obstacle.

[0235] The first position is parallel to the center line of the parking space lane.

[0236] Based on the above steps, the electronic device determines the position information of the vehicle itself at the end of each of the N stages and the vehicle trajectory information of the vehicle itself in each stage, and then parks the vehicle itself into the first parking space in N stages.

[0237] First, based on the time-consuming information corresponding to the first stage (i.e., the stage of reaching the preparation position), the electronic device controls the vehicle to drive from the current position to the first position corresponding to the first position information. At the same time, the electronic device also places a virtual obstacle beside the first parking space, so that the following vehicle on the first road can avoid driving based on the virtual obstacle, which can simulate the impact on the following vehicle when the vehicle itself parks.

[0238] S205. Based on the time-consuming information corresponding to the stage of adjusting the reverse angle, after controlling the vehicle to turn the steering wheel fully to the right, reverse the vehicle from the first position to the second position corresponding to the second position information.

[0239] It should be noted that this stage includes the operation of turning the steering wheel of the vehicle fully to the right. In some embodiments, the time-consuming information corresponding to this stage of adjusting the reverse angle includes two parts of time. The first part of time is the time required for the process of turning the steering wheel of the vehicle fully to the right, and the second part of time is the time required to reverse the vehicle from the first position to the second position. In some embodiments, the time-consuming information corresponding to this stage of adjusting the reverse angle includes the time required to reverse the vehicle from the first position to the second position, and does not include the time required for the process of turning the steering wheel of the vehicle fully to the right. At this time, the vehicle needs to wait for T12 time. After waiting for the steering wheel of the vehicle to turn fully to the right, then spend T2 time to control the vehicle to reverse from the first position to the second position corresponding to the second position information.

[0240] S206. Based on the time-consuming information corresponding to the straight-line reverse stage, after the steering wheel of the vehicle is straightened, control the vehicle to reverse from the second position to the third position corresponding to the third position information.

[0241] It should be noted that this stage includes the operation of straightening the steering wheel of the vehicle. In some embodiments, the time-consuming information in this straight-line reverse stage has two parts. The first part of the time is the time required for the process of straightening the steering wheel of the vehicle, and the second part of the time is the time required to reverse from the second position to the third position. In some embodiments, the time-consuming information corresponding to this straight-line reverse stage includes the time required to reverse from the second position to the third position and does not include the time required to straighten the steering wheel. At this time, the vehicle needs to wait for T23 time. After waiting for the vehicle to straighten the steering wheel, it then takes T3 time to control the vehicle to reverse from the second position to the third position.

[0242] S207. Based on the time-consuming information corresponding to the steering reverse stage, after the steering wheel of the vehicle is turned fully to the left, control the vehicle to reverse from the third position to the fourth position corresponding to the fourth position information.

[0243] It should be noted that this stage includes the operation of turning the steering wheel of the vehicle fully to the left. In some embodiments, the time-consuming information in this steering reverse stage has two parts. The first part of the time is the time required for the process of turning the steering wheel of the vehicle fully to the left, and the second part of the time is the time required to reverse from the third position to the fourth position. In some embodiments, the time-consuming information corresponding to this steering reverse stage includes the time required to reverse from the third position to the fourth position and does not include the time required to turn the steering wheel fully to the left. At this time, the vehicle needs to wait for T34 time. After waiting for the vehicle's steering wheel to be turned fully to the left, it then takes T4 time to control the vehicle to reverse from the third position to the fourth position.

[0244] S208. Remove the virtual obstacle.

[0245] S209. Determine that the fourth position is not the target parking position in the first parking space.

[0246] If the fourth position is the target parking position in the first parking space, then perform the steps of S211.

[0247] If the fourth position is not the target parking position in the first parking space, then perform the steps of S210.

[0248] S210. Based on the time-consuming information corresponding to the longitudinal movement stage, after the steering wheel of the vehicle is straightened, move the vehicle forward and backward along the center line of the parking space lane in the first parking space so that the vehicle is parked at the target parking position.

[0249] In one example, the time-consuming information corresponding to the longitudinal movement stage can be determined by the same method as that for determining the time-consuming information corresponding to other stages above. For example, the time-consuming information corresponding to the longitudinal movement stage is included in Table 1 and / or Table 2 above.

[0250] S211. Parking ends.

[0251] The parking method provided by the embodiment of the present application divides the side parking process into 4 stages, and based on the vehicle parameter information of the vehicle itself, determines the position information of the vehicle itself at the end of each of these 4 stages, and at the same time determines the time-consuming information corresponding to each of these 4 stages. In this way, based on the position information and time-consuming information corresponding to each of the 4 stages, the vehicle is parked into the first parking space in 4 stages. At the same time, in order to simulate the avoidance behavior of the following vehicle towards the vehicle being parked in the embodiment of the present application, a virtual obstacle is placed beside the first parking space, so that the following vehicle makes an avoidance drive based on the virtual obstacle, which makes the process trajectory of the vehicle parked sideways into the parallel parking space and the reaction of the following vehicle closer to reality, thereby making the simulation result more real, and improving the popularization and application of intelligent driving technology.

[0252] As described above in conjunction with Figures 4 to 14 ,the embodiment of the parking method of the present application has been described in detail. Below in conjunction with Figure 15 ,the embodiment of the device of the present application will be described in detail.

[0253] Figure 15 FIG. is a schematic block diagram of a parking device provided by an embodiment of the present application.

[0254] As Figure 15 shown, the parking device 10 includes:

[0255] An acquisition unit 11, configured to receive a parking instruction to park the vehicle itself into a parking space, and in response to the parking instruction, when a first parking space parallel to and idle on the first road where the vehicle itself is located is detected, acquire the vehicle parameter information of the vehicle itself;

[0256] A determination unit 12, configured to determine, based on the vehicle parameter information, the vehicle motion information corresponding to N stages respectively required to control the vehicle itself to park from the current position into the first parking space, where the N stages include at least one of a stage of reaching a preparation position, a stage of adjusting the reverse angle, a stage of straight reverse, and a stage of steering reverse, and N is a positive integer;

[0257] A control unit 13, configured to control the vehicle itself to park into the first parking space based on the vehicle motion information corresponding to the N stages respectively.

[0258] In some embodiments, the vehicle motion information corresponding to each of the N stages includes the position information of the host vehicle at the end of each stage; the determining unit 12 is specifically configured to divide the first road into a parking space lane and a virtual lane, where the virtual lane is the remaining road surface of the first road except the parking space lane; based on the vehicle parameter information, the parking space lane, and the virtual lane, determine the first position information of the host vehicle at the end of the arrival preparation position stage; based on the vehicle parameter information and the first position information, determine the second position information of the host vehicle at the end of the adjusting reverse angle stage; based on the vehicle parameter information, determine the correspondence between the third position information of the host vehicle at the end of the straight reverse stage and the fourth position information of the host vehicle at the end of the steering reverse stage, and based on the correspondence and the preset value of the fourth position information at the end of the steering reverse stage, determine the third position information.

[0259] In some embodiments, the vehicle parameter information includes the size of the host vehicle, and the determining unit 12 is specifically configured to obtain a second parking space in front of the first parking space on the parking space lane; based on the size of the host vehicle, the second parking space, and the virtual lane, determine the first position information.

[0260] In some embodiments, the determining unit 12 is specifically configured to, if a first vehicle is parked in the second parking space, obtain the position information of the rear of the first vehicle; based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of the host vehicle, determine the first position information, where the first position information is located in the virtual lane.

[0261] In some embodiments, the determining unit 12 is specifically configured to, based on the position information of the rear of the first vehicle and the size of the host vehicle, determine the x coordinate value in the first position information when the rear of the host vehicle is flush with the rear of the first vehicle; based on the width of the first vehicle, the width of the host vehicle, and the preset spacing between the host vehicle and the first vehicle in the y direction, determine the y coordinate value in the first position information.

[0262] In some embodiments, the determining unit 12 is specifically configured to add half of the sum of the width of the first vehicle and the width of the host vehicle to the preset spacing to obtain the y coordinate value in the first position information.

[0263] In some embodiments, the parameter information of the vehicle includes the minimum turning radius of the vehicle itself and the axle spacing between the front axle and the rear axle of the vehicle itself; the determining unit 12 is specifically configured to determine the rotation radius of the center of the rear wheels of the vehicle itself based on the minimum turning radius of the vehicle itself and the axle spacing of the vehicle itself; and determine the second position information based on the rotation radius of the center of the rear wheels of the vehicle itself, the first included angle between the center line of the vehicle itself and the center line of the first road at the end of the stage of adjusting the reverse angle, and the first position information.

[0264] In some embodiments, the determining unit 12 is specifically configured to determine the first moving distances in the x-direction and the y-direction of the vehicle itself from the end of the stage of reaching the preparation position to the end of the stage of adjusting the reverse angle based on the rotation radius of the center of the rear wheels of the vehicle itself and the first included angle; determine the x-coordinate value in the second position information based on the x-coordinate value in the first position information and the first moving distance of the vehicle itself in the x-direction; and determine the y-coordinate value in the second position information based on the y-coordinate value in the first position information and the first moving distance of the vehicle itself in the y-direction.

[0265] In some embodiments, the determining unit 12 is specifically configured to determine the product of the sine value of the first included angle and the rotation radius of the center of the rear wheels of the vehicle itself as the first moving distance of the vehicle itself in the x-direction; multiply the cosine value of the first included angle by the rotation radius of the center of the rear wheels of the vehicle itself to obtain a first value; and determine the difference between the rotation radius of the center of the rear wheels of the vehicle itself and the first value as the first moving distance of the vehicle itself in the y-direction.

[0266] In some embodiments, the parameter information of the vehicle includes the minimum turning radius of the vehicle itself and the axle spacing between the front axle and the rear axle of the vehicle itself; the determining unit 12 is specifically configured to determine the rotation radius of the center of the rear wheels of the vehicle itself based on the minimum turning radius of the vehicle itself and the axle spacing of the vehicle itself; and determine the corresponding relationship based on the rotation radius of the center of the rear wheels of the vehicle itself and the first included angle between the center line of the vehicle itself and the center line of the first road at the end of the stage of straight reverse driving.

[0267] In some embodiments, the determining unit 12 is specifically configured to determine the second moving distances in the x-direction and the y-direction of the vehicle itself from the end of the stage of straight reverse driving to the end of the stage of turning reverse driving based on the rotation radius of the center of the rear wheels of the vehicle itself and the first included angle; determine the difference between the x-coordinate value in the third position information and the second moving distance of the vehicle itself in the x-direction as the x-coordinate value in the fourth position information; and determine the difference between the y-coordinate value in the third position information and the second moving distance of the vehicle itself in the y-direction as the y-coordinate value in the fourth position information.

[0268] In some embodiments, the determining unit 12 is specifically configured to determine the product of the sine value of the first included angle and the rotation radius of the rear wheel center of the vehicle as the second moving distance of the vehicle in the x direction; multiply the cosine value of the first included angle by the rotation radius of the rear wheel center of the vehicle to obtain a second value; and determine the difference between the rotation radius of the rear wheel center of the vehicle and the second value as the second moving distance of the vehicle in the y direction.

[0269] In some embodiments, the vehicle motion information corresponding to each of the N stages further includes the vehicle trajectory information for each stage; wherein, the vehicle trajectory information for the arrival preparation position stage includes: the vehicle travels from the current position to the first position corresponding to the first position information, and the first position is parallel to the center line of the parking space lane; the vehicle trajectory information for the adjusting reverse angle stage includes: the vehicle reverses from the first position to the second position corresponding to the second position information after turning the steering wheel to the right full lock; the vehicle trajectory information for the straight reverse stage includes: the vehicle reverses from the second position to the third position corresponding to the third position information after straightening the steering wheel; the vehicle trajectory information for the steering reverse stage includes: the vehicle reverses from the third position to the fourth position corresponding to the fourth position information after turning the steering wheel to the left full lock.

[0270] In some embodiments, the determining unit 12 is further configured to determine the time-consuming information corresponding to each of the N stages based on the vehicle parameter information and the aggressiveness corresponding to the vehicle; the control unit 13 is specifically configured to control the vehicle to travel from the current position to the first position based on the time-consuming information corresponding to the arrival preparation position stage; control the vehicle to reverse from the first position to the second position after turning the steering wheel to the right full lock based on the time-consuming information corresponding to the adjusting reverse angle stage; control the vehicle to reverse from the second position to the third position after straightening the steering wheel based on the time-consuming information corresponding to the straight reverse stage; and control the vehicle to reverse from the third position to the fourth position after turning the steering wheel to the left full lock based on the time-consuming information corresponding to the steering reverse stage.

[0271] In some embodiments, after the control unit 13 controls the vehicle to reverse from the third position to the fourth position after turning the steering wheel to the left full lock based on the time-consuming information corresponding to the steering reverse stage, if it detects that the fourth position is not the target parking position in the first parking space, it is further configured to control the vehicle to straighten the steering wheel and move forward and backward along the center line of the parking space lane in the first parking space so that the vehicle is parked at the target parking position.

[0272] In some embodiments, it can be applied to intelligent driving simulation scenarios and intelligent driving scenarios. The control unit 13 is further configured to, in the intelligent driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the arrival preparation position stage, place a virtual obstacle at a position parallel to the first parking space on the center line of the virtual lane, so that the following vehicle on the first road travels based on the virtual obstacle; in the intelligent driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the arrival preparation position stage, send the position information and size information of the virtual obstacle to the following vehicle, so that the following vehicle drives based on the position information and size information of the virtual obstacle, and the position information of the virtual obstacle is the position parallel to the first parking space on the center line of the virtual lane.

[0273] It should be understood that the device embodiments and the method embodiments can correspond to each other, and similar descriptions can refer to the method embodiments. To avoid repetition, it will not be elaborated here. Specifically, Figure 15 The device shown can execute the embodiments of the above method, and the foregoing and other operations and / or functions of each module in the device respectively are for implementing the method embodiments. For the sake of brevity, it will not be elaborated here.

[0274] The device of the embodiment of the present application has been described above from the perspective of functional modules in combination with the drawings. It should be understood that the functional module can be implemented in the form of hardware, can also be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, each step of the method embodiment in the embodiment of the present application can be completed by the integrated logic circuit in the hardware in the processor and / or instructions in software form. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. Optionally, the software module can be located in mature storage media in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage media is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps in the above method embodiments.

[0275] Figure 16 is a schematic block diagram of an electronic device provided by an embodiment of the present application, Figure 16 The electronic device can be the above-mentioned working node.

[0276] As Figure 16 shown, the electronic device 30 may include:

[0277] A memory 31 and a processor 32, where the memory 31 is used to store a computer program 33 and transfer the program code 33 to the processor 32. In other words, the processor 32 can call and run the computer program 33 from the memory 31 to implement the method in the embodiments of the present application.

[0278] For example, the processor 32 can be used to execute the steps in the above method according to the instructions in the computer program 33.

[0279] In some embodiments of the present application, the processor 32 may include, but is not limited to:

[0280] A general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.

[0281] In some embodiments of the present application, the memory 31 includes, but is not limited to:

[0282] A volatile memory and / or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROP), a programmable read-only memory (PROP), an erasable programmable read-only memory (EPROP), an electrically erasable programmable read-only memory (EEPROP), or a flash memory. The volatile memory can be a random access memory (RAP), which is used as an external cache. By way of example but not limitation, many forms of RAP are available, such as a static random access memory (SRAP), a dynamic random access memory (DRAP), a synchronous dynamic random access memory (SDRAP), a double data rate synchronous dynamic random access memory (DDR SDRAP), an enhanced synchronous dynamic random access memory (ESDRAP), a synch link DRAP (SLDRAP), and a direct rambus RAP (DR RAP).

[0283] In some embodiments of the present application, the computer program 33 may be divided into one or more modules. The one or more modules are stored in the memory 31 and executed by the processor 32 to complete the method for recording a page provided by the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 33 in the electronic device.

[0284] As Figure 16 shown, the electronic device 30 may further include:

[0285] A transceiver 34, which may be connected to the processor 32 or the memory 31.

[0286] Among them, the processor 32 may control the transceiver 34 to communicate with other devices. Specifically, it may send information or data to other devices, or receive information or data sent by other devices. The transceiver 34 may include a transmitter and a receiver. The transceiver 34 may further include an antenna, and the number of antennas may be one or more.

[0287] It should be understood that the various components in the electronic device 30 are connected through a bus system. Among them, the bus system includes not only a data bus, but also a power bus, a control bus, and a status signal bus.

[0288] According to one aspect of the present application, there is provided a computer storage medium, on which a computer program is stored. When the computer program is executed by the computer, the computer is enabled to execute the method of the above method embodiment. Or rather, the embodiments of the present application further provide a computer program product containing instructions. When the instructions are executed by the computer, the computer is enabled to execute the method of the above method embodiment.

[0289] According to another aspect of the present application, there is provided a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of the above method embodiment.

[0290] In other words, when implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of this application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid-state disk (SSD)), etc.

[0291] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0292] In several embodiments provided in this 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 modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other may be through some interfaces, and the indirect couplings or communication connections of the devices or modules may be in electrical, mechanical, or other forms.

[0293] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or may be distributed across multiple network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, in each embodiment of this application, the functional modules can be integrated in one processing module, or each module can exist physically separately, or two or more modules can be integrated in one module.

[0294] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A parking method, characterized in that, Including: Receiving a parking instruction to park the vehicle in a parking space, and in response to the parking instruction, when a first parking space parallel to and free on the first road where the vehicle is located is detected, obtaining the vehicle parameter information of the vehicle; Based on the vehicle parameter information, determining vehicle motion information corresponding to N stages required to control the vehicle to park from the current position into the first parking space, the N stages including at least one of a stage of reaching a preparation position, a stage of adjusting the reverse angle, a stage of straight reverse, and a stage of steering reverse, where N is a positive integer; Based on the vehicle motion information corresponding to the N stages respectively, controlling the vehicle to park in the first parking space.

2. The method according to claim 1, wherein The vehicle motion information corresponding to each of the N stages includes the position information of the vehicle at the end of each stage; the determining, based on the vehicle parameter information, of the vehicle motion information corresponding to the N stages required to control the vehicle to park from the current position into the first parking space includes: Dividing the first road into a parking space lane and a virtual lane, where the virtual lane is the remaining road surface in the first road except the parking space lane; Based on the vehicle parameter information, the parking space lane, and the virtual lane, determining the first position information of the vehicle at the end of the stage of reaching the preparation position; Based on the vehicle parameter information and the first position information, determining the second position information of the vehicle at the end of the stage of adjusting the reverse angle; Based on the vehicle parameter information, determining the correspondence between the third position information of the vehicle at the end of the stage of straight reverse and the fourth position information of the vehicle at the end of the stage of steering reverse, and based on the correspondence and a preset value of the fourth position information at the end of the stage of steering reverse, determining the third position information.

3. The method according to claim 2, wherein The vehicle parameter information includes the size of the vehicle, and the determining, based on the vehicle parameter information, the parking space lane, and the virtual lane, of the first position information of the vehicle at the end of the stage of reaching the preparation position includes: Obtaining a second parking space on the parking space lane before the first parking space; Based on the size of the vehicle, the second parking space, and the virtual lane, determining the first position information.

4. The method according to claim 3, wherein The determining, based on the vehicle parameter information, the second parking space, and the virtual lane, of the first position information includes: If a first vehicle is parked in the second parking space, obtaining the position information of the rear of the first vehicle; Based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of the vehicle, determining the first position information, where the first position information is located in the virtual lane.

5. The method according to claim 4, wherein The determining, based on the position information of the rear of the first vehicle, the size of the first vehicle, and the size of the vehicle, of the first position information includes: Based on the position information of the rear of the first vehicle and the size of the vehicle, determining the x coordinate value in the first position information when the rear of the vehicle is flush with the rear of the first vehicle; Determine the y - coordinate value in the first position information based on the width of the first vehicle, the width of this vehicle, and the preset spacing between this vehicle and the first vehicle in the y - direction.

6. The method according to claim 5, wherein The determining the y - coordinate value in the first position information based on the width of the first vehicle, the width of this vehicle, and the preset spacing between this vehicle and the first vehicle in the y - direction includes: Add half of the sum of the width of the first vehicle and the width of this vehicle to the preset spacing to obtain the y - coordinate value in the first position information.

7. The method according to claim 2, wherein The parameter information of the vehicle includes the minimum turning radius of this vehicle and the axle spacing between the front axle and the rear axle of this vehicle; Based on the vehicle parameter information and the first position information, determine the second position information of this vehicle at the end of the adjusting reverse angle stage, including: Based on the minimum turning radius of this vehicle and the axle spacing of this vehicle, determine the rotation radius of the center of the rear wheel of this vehicle; Based on the rotation radius of the center of the rear wheel of this vehicle, the first included angle between the vehicle center line of this vehicle and the center line of the first road at the end of the adjusting reverse angle stage, and the first position information, determine the second position information.

8. The method according to claim 7, wherein The determining the second position information based on the rotation radius of the center of the rear wheel of this vehicle, the first included angle between the vehicle center line of this vehicle and the center line of the first road at the end of the adjusting reverse angle stage, and the first position information includes: Based on the rotation radius of the center of the rear wheel of this vehicle and the first included angle, determine the first moving distances of this vehicle in the x - direction and the y - direction from the end of the reaching the preparation position stage to the end of the adjusting reverse angle stage; Based on the x - coordinate value in the first position information and the first moving distance of this vehicle in the x - direction, determine the x - coordinate value in the second position information; Based on the y - coordinate value in the first position information and the first moving distance of this vehicle in the y - direction, determine the y - coordinate value in the second position information.

9. The method according to claim 8, wherein The determining the first moving distances of this vehicle in the x - direction and the y - direction at the end of the adjusting reverse angle stage based on the rotation radius of the center of the rear wheel of this vehicle and the first included angle includes: Determine the product of the sine value of the first included angle and the rotation radius of the center of the rear wheel of this vehicle as the first moving distance of this vehicle in the x - direction; Multiply the cosine value of the first included angle by the rotation radius of the center of the rear wheel of this vehicle to obtain a first value; Determine the difference between the rotation radius of the center of the rear wheel of this vehicle and the first value as the first moving distance of this vehicle in the y - direction.

10. The method according to claim 2, wherein The parameter information of the vehicle includes the minimum turning radius of this vehicle and the axle spacing between the front axle and the rear axle of this vehicle; Based on the vehicle parameter information, determine the correspondence relationship between the third position information of this vehicle at the end of the straight - line reverse stage and the fourth position information of this vehicle at the end of the steering reverse stage, including: Determine the rotation radius of the rear wheel center of the vehicle based on the minimum turning radius of the vehicle and the wheelbase of the vehicle. Determine the corresponding relationship based on the rotation radius of the rear wheel center of the vehicle and the first included angle between the vehicle center line of the vehicle and the center line of the first road at the end of the straight reversing stage.

11. The method according to claim 10, characterized in that, The determining the corresponding relationship based on the rotation radius of the rear wheel center of the vehicle and the first included angle between the vehicle center line of the vehicle and the center line of the first road at the end of the straight reversing stage includes: Based on the rotation radius of the rear wheel center of the vehicle and the first included angle, determine the second moving distances in the x-direction and y-direction of the vehicle from the end of the straight reversing stage to the end of the steering reversing stage. Determine the x-coordinate value in the fourth position information as the difference between the x-coordinate value in the third position information and the second moving distance of the vehicle in the x-direction. Determine the y-coordinate value in the fourth position information as the difference between the y-coordinate value in the third position information and the second moving distance of the vehicle in the y-direction.

12. The method according to claim 11, wherein The determining the second moving distances in the x-direction and y-direction of the vehicle from the end of the straight reversing stage to the end of the steering reversing stage based on the rotation radius of the rear wheel center of the vehicle and the first included angle includes: Determine the second moving distance of the vehicle in the x-direction as the product of the sine value of the first included angle and the rotation radius of the rear wheel center of the vehicle. Multiply the cosine value of the first included angle by the rotation radius of the rear wheel center of the vehicle to obtain a second value. Determine the second moving distance of the vehicle in the y-direction as the difference between the rotation radius of the rear wheel center of the vehicle and the second value.

13. The method according to any one of claims 2-12, characterized in that, The vehicle motion information corresponding to each of the N stages further includes the vehicle trajectory information of each stage. Among them, the vehicle trajectory information of the reaching the preparation position stage includes: the vehicle travels from the current position to the first position corresponding to the first position information, and the first position is parallel to the center line of the parking space lane. The vehicle trajectory information of the adjusting the reversing angle stage includes: the vehicle reverses from the first position to the second position corresponding to the second position information after turning the steering wheel to the right full lock. The vehicle trajectory information of the straight reversing stage includes: the vehicle reverses from the second position to the third position corresponding to the third position information after straightening the steering wheel. The vehicle trajectory information of the steering reversing stage includes: the vehicle reverses from the third position to the fourth position corresponding to the fourth position information after turning the steering wheel to the left full lock.

14. The method according to claim 13, wherein The method further includes: Determine the time-consuming information corresponding to each of the N stages based on the vehicle parameter information and the aggressiveness corresponding to the vehicle. The controlling the vehicle to park in the first parking space based on the vehicle motion information corresponding to each of the N stages includes: Control the vehicle to travel from the current position to the first position based on the time-consuming information corresponding to the reaching the preparation position stage. Based on the time-consuming information corresponding to the stage of adjusting the reverse angle, after controlling the vehicle to turn the steering wheel fully to the right, reverse the vehicle from the first position to the second position; Based on the time-consuming information corresponding to the straight reverse stage, after controlling the vehicle to straighten the steering wheel, reverse the vehicle from the second position to the third position; Based on the time-consuming information corresponding to the steering reverse stage, after controlling the vehicle to turn the steering wheel fully to the left, reverse the vehicle from the third position to the fourth position.

15. The method according to claim 14, wherein After the step of, based on the time-consuming information corresponding to the steering reverse stage, controlling the vehicle to turn the steering wheel fully to the left and reverse the vehicle from the third position to the fourth position, the method further includes: If it is detected that the fourth position is not the target parking position in the first parking space, then control the vehicle to straighten the steering wheel and move back and forth along the center line of the parking space lane in the first parking space, so that the vehicle stops at the target parking position.

16. The method according to claim 14, wherein It can be applied to the intelligent driving simulation scenario and the intelligent driving scenario, and the method further includes: In the intelligent driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the stage of reaching the preparation position, place a virtual obstacle at a position parallel to the first parking space on the center line of the virtual lane, so that the vehicle behind on the first road travels based on the virtual obstacle; In the intelligent driving simulation scenario, when controlling the vehicle to travel from the current position to the first position parallel to the center line of the parking space lane based on the time-consuming information corresponding to the stage of reaching the preparation position, send the position information and size information of the virtual obstacle to the vehicle behind, so that the vehicle behind drives based on the position information and size information of the virtual obstacle, and the position information of the virtual obstacle is the position parallel to the first parking space on the center line of the virtual lane.

17. A parking device, characterized in that, including: An acquisition unit, configured to receive a parking instruction to park the vehicle in a parking space, and in response to the parking instruction, when detecting a first parking space parallel to and idle on the first road where the vehicle is located, acquire the vehicle parameter information of the vehicle; A determination unit, configured to determine the vehicle motion information corresponding to N stages respectively required when controlling the vehicle to park from the current position into the first parking space based on the vehicle parameter information, where the N stages include at least one of the stage of reaching the preparation position, the stage of adjusting the reverse angle, the straight reverse stage, and the steering reverse stage, and N is a positive integer; A control unit, configured to control the vehicle to park in the first parking space based on the vehicle motion information corresponding to the N stages respectively.

18. An electronic device, including a processor and a memory; The memory is used to store a computer program; The processor is configured to execute the computer program to implement the method according to any one of claims 1 to 16 above.

19. A computer-readable storage medium, characterized in that, For storing a computer program; The computer program causes a computer to execute the method according to any one of claims 1 to 16 above.

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