Vehicle parking method and system, storage medium and equipment

Abstract

The invention provides a vehicle parking method which comprises the following steps: after detecting that a parking space is released initially, determining a main driving door rotating shaft position and a main driving door plane length of other vehicles; determining orientation parameters according to the homonymy of the heads of the own vehicle and the other vehicle, and determining direction coefficients according to the parking space positions of the own vehicle and the other vehicle; calculating the door opening and closing range of other vehicles by taking the position of the main driving door rotating shaft as the circle center and the plane length of the main driving door as the radius in combination with the orientation parameter and the direction coefficient; if the set parking safety distance is met, the current parking space is released, and vehicle parking is completed; and if not, generating a re-parking selection so as to re-execute vehicle parking. According to the method, inconvenience caused by intelligent parking to other vehicles can be avoided, manual parking intervention is reduced, the intelligent degree of automatic parking is improved, and then the competitiveness of vehicle products is improved. The invention further provides a vehicle parking system, a computer readable storage medium and electronic equipment which also have the above beneficial effects.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a vehicle parking method, system, storage medium and device. Background Art

[0002] The parking spaces found by intelligent parking (including automatic parking, remote control parking, and memory parking) are usually obtained through model training. The training of parking spaces usually includes information such as parking space lines and left and right vehicle spacing. If the width of the vehicle itself is large and the width of the parking space is small, it is likely to cause restrictions on the opening of the driver's door of the vehicle itself or other vehicles.

[0003] For example, when there are vehicles on the left and right sides of the target parking space, although the parking space of the vehicle itself can be released, after the vehicle itself is parked, it often causes the driver's door of other vehicles to not open (especially for remote control parking and memory parking), making it difficult to open the driver's door of other vehicles. Summary of the Invention

[0004] The purpose of the present application is to provide a vehicle parking method, system, computer-readable storage medium and electronic device, which can detect the opening and closing distance of the door after parking, ensure that the driver's doors of the vehicle itself and other vehicles can be normally opened, and improve the user experience.

[0005] To solve the above technical problems, the present application provides a vehicle parking method, and the specific technical solution is as follows:

[0006] After detecting the initial release of the parking space, determine the position of the main driving door hinge of the other vehicle and the length of the main driving door plane;

[0007] Determine the orientation parameter according to the co-directionality of the vehicle itself and the front of the other vehicle, and determine the direction coefficient according to the parking space positions of the vehicle itself and the other vehicle;

[0008] Taking the position of the main driving door hinge as the center and the length of the main driving door plane as the radius, calculate the door opening and closing range of the other vehicle in combination with the orientation parameter and the direction coefficient;

[0009] If the door opening and closing range meets the set parking safety distance, release the current parking space to complete vehicle parking;

[0010] If the door opening and closing range does not meet the set parking safety distance, generate a re-parking option to re-execute vehicle parking.

[0011] Optionally, determining the position of the main driving door hinge of the other vehicle and the length of the main driving door plane includes:

[0012] Taking the center of the current parking space as the origin, establishing a coordinate system with the long side of the current parking space as the Y-axis parallel to the inside of the parking space and the right side perpendicular to the Y-axis as the X-axis;

[0013] Determine the coordinate position of the external rearview mirror of the other vehicle in the coordinate system;

[0014] Determine the calibration value between the external rearview mirror and the position of the main driver's door hinge, and the included angle between the front of the other vehicle and the X-axis;

[0015] Determine the center position when the door of the other vehicle rotates according to the coordinate position, the calibration value and the included angle;

[0016] Determine the length of the main driver's door plane of the other vehicle according to the difference between the position of the external rearview mirror and the position of the rear wheel of the other vehicle.

[0017] Optionally, determining the orientation parameter according to the co-directionality of the host vehicle and the front of the other vehicle, and determining the direction coefficient according to the parking space positions of the host vehicle and the other vehicle includes:

[0018] If the front of the other vehicle faces the opposite direction of the front of the host vehicle, the orientation parameter is positive; if the front of the other vehicle faces the same direction as the front of the host vehicle, the orientation parameter is negative;

[0019] Taking facing the right side of the parking space as the set standard direction, if the other vehicle is located in the opposite direction of the set standard direction of the release parking space, the direction coefficient is positive; if the other vehicle is located in the set standard direction of the release parking space, the direction coefficient is positive.

[0020] Optionally, if the parking space is a standard parking space, with the position of the main driver's door hinge as the center and the length of the main driver's door plane as the radius, calculating the door opening and closing range of the other vehicle in combination with the orientation parameter and the direction coefficient includes:

[0021] Determine the door opening rotation trajectory of the other vehicle according to the included angle and the length of the main driver's door plane of the other vehicle;

[0022] Determine the parking safety angle according to the set parking safety distance;

[0023] Determine the safe door opening range according to the parking safety angle and the door opening rotation trajectory;

[0024] When the front of the other vehicle faces the opposite direction of the host vehicle, determine the maximum opening and closing distance according to the coordinate with the larger Y value in the safe door opening range; when the front of the other vehicle faces the same direction as the host vehicle, determine the maximum opening and closing distance according to the coordinate with the smaller Y value in the safe door opening range.

[0025] Optionally, the process of re-executing vehicle parking includes:

[0026] Determine the outer edge points of the other vehicle; wherein, when the product of the orientation parameter and the direction coefficient is negative, use the four corner points of the other vehicle as the outer edge points; when the product of the orientation parameter and the direction coefficient is positive, use the four corner points and the end position of the driver's door of the other vehicle as the outer edge points;

[0027] Screen the key outer edge points from the outer edge points according to the lateral extreme values of the outer edge points; wherein, for the other vehicle with a positive direction coefficient, use the point with the largest X value among all the outer edge points as the first key outer edge point; for the other vehicle with a negative direction coefficient, use the point with the smallest X value among all the outer edge points as the second key outer edge point;

[0028] Calculate the lateral difference along the X-axis according to the first key outer edge point and the second key outer edge point;

[0029] If the lateral difference is greater than the width of the own vehicle, horizontally translate the corresponding parking virtual space of the parking space to the middle position between the outer edge points corresponding to the maximum X value and the minimum X value respectively;

[0030] If the lateral difference is not greater than the width of the own vehicle, and the product of the orientation parameter and the direction coefficient of the target other vehicle is negative, when the orientation parameter is negative, keep the position of the parking space unchanged; when the orientation parameter is positive, rotate the parking direction of the parking virtual space around the center of the parking space to align the tilt angle of the parking virtual space with the included angle;

[0031] Take the larger value of the angles between the own vehicle and the adjacent vehicles, and extend along the vehicle rotation direction to determine the rotation angle range;

[0032] Rotate the parking virtual space within the rotation angle range, and control the own vehicle to park along the rotated parking virtual space.

[0033] Optionally, after rotating the parking virtual space within the rotation angle range, it further includes:

[0034] Draw perpendicular lines from the outer edge points of two adjacent other vehicles to the rotation line to obtain the first perpendicular distance and the second perpendicular distance;

[0035] If the sum of the first perpendicular distance and the second perpendicular distance is greater than the sum of the width of the own vehicle and the set parking safety distance, stop the rotation of the parking space.

[0036] If the sum of the first perpendicular distance and the second perpendicular distance is not greater than the sum of the width of the own vehicle and the set parking safety distance, determine that the parking space cannot be released and cancel the parking.

[0037] Optionally, perpendicular lines are drawn from each of the outer edge points to the rotation line, and obtaining the first perpendicular distance and the second perpendicular distance includes:

[0038] For each angle within the range of the rotation angle, determine the equation of the central axis of the host vehicle;

[0039] Determine the first perpendicular distance according to the equation of the central axis and the position of the end of the driver's door of the first other vehicle;

[0040] Determine the second perpendicular distance according to the equation of the central axis and the position of the end of the driver's door of the second other vehicle; wherein, the first other vehicle and the second other vehicle are both adjacent vehicles of the host vehicle.

[0041] The present application also provides a vehicle parking system, including:

[0042] An other vehicle detection module, configured to determine the position of the rotation axis of the driver's door and the length of the driver's door plane of the other vehicle after detecting the initial release of the parking space;

[0043] A parking parameter determination module, configured to determine the orientation parameter according to the co-directionality of the host vehicle and the front of the other vehicle, and determine the direction coefficient according to the parking space positions of the host vehicle and the other vehicle;

[0044] An other vehicle door opening and closing detection module, configured to calculate the door opening and closing range of the other vehicle with the position of the rotation axis of the driver's door as the center and the length of the driver's door plane as the radius, in combination with the orientation parameter and the direction coefficient;

[0045] A parking module, configured to release the current parking space and complete vehicle parking if the door opening and closing range meets the set parking safety distance;

[0046] A secondary parking module, configured to generate a re-parking option if the door opening and closing range does not meet the set parking safety distance, so as to re-perform vehicle parking.

[0047] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0048] The present application also provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the method described above are implemented.

[0049] The present application provides a vehicle parking method, including: after detecting the initial release of a parking space, determining the position of the main driver's door hinge axis and the length of the main driver's door plane of another vehicle; determining an orientation parameter based on the co-directionality between the host vehicle and the front of the other vehicle, and determining a direction coefficient based on the parking space positions of the host vehicle and the other vehicle; using the position of the main driver's door hinge axis as the center and the length of the main driver's door plane as the radius, and calculating the opening and closing range of the door of the other vehicle in combination with the orientation parameter and the direction coefficient; if the opening and closing range of the door meets the set parking safety distance, releasing the current parking space to complete vehicle parking; if the opening and closing range of the door does not meet the set parking safety distance, generating a re-parking option to re-perform vehicle parking.

[0050] After the initial release of the parking space, the present application determines the position of the main driver's door hinge axis and the length of the main driver's door plane of another vehicle, calculates the opening and closing range of the door of the other vehicle with reference to the orientation parameter and the direction coefficient, and compares it with the set parking safety distance to determine whether the vehicle affects the opening of the door of the other vehicle after the current parking space is released. If the opening and closing range of the door of the other vehicle does not meet the set parking safety distance, a re-parking option can be further generated to re-perform parking, adjust the position of the released parking space, avoid inconveniencing other vehicles during intelligent parking, reduce manual parking intervention, improve the intelligence level of automated parking, and thus enhance the competitiveness of vehicle products.

[0051] The present application also provides a vehicle parking system, a computer-readable storage medium, and an electronic device, which also have the above beneficial effects and will not be elaborated here. Description of the Drawings

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0053] Figure 1 It is a flowchart of a vehicle parking method provided by an embodiment of the present application;

[0054] Figure 2 It is a schematic diagram of the standard direction of a vehicle provided by an embodiment of the present application;

[0055] Figure 3 It is a flowchart of calculating the opening and closing range of a door provided by an embodiment of the present application;

[0056] Figure 4 It is a schematic diagram of calculating the opening and closing range of a door provided by an embodiment of the present application;

[0057] Figure 5 Flow chart of the re-parking process provided by an embodiment of the present application;

[0058] Figure 6 Schematic diagram of the re-parking judgment process provided by an embodiment of the present application;

[0059] Figure 7 Schematic diagram of the parking space rotation provided by an embodiment of the present application;

[0060] Figure 8 Schematic diagram after the parking space rotation provided by an embodiment of the present application;

[0061] Figure 9 Schematic diagram of the structure of a vehicle parking system provided by an embodiment of the present application;

[0062] Figure 10 Schematic diagram of the structure of the electronic device provided by an embodiment of the present application. Detailed implementation manners

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. 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.

[0064] Please refer to Figure 1 , Figure 1 Flow chart of a vehicle parking method provided by an embodiment of the present application. The method includes:

[0065] S101: After detecting the initial release of the parking space, determine the position of the main driver's door hinge axis and the length of the main driver's door plane of the other vehicle;

[0066] S102: Determine the orientation parameter according to the co-directionality between the self vehicle and the front of the other vehicle, and determine the direction coefficient according to the parking space positions of the self vehicle and the other vehicle;

[0067] S103: Taking the position of the main driver's door hinge axis as the center and the length of the main driver's door plane as the radius, calculate the opening and closing range of the door of the other vehicle in combination with the orientation parameter and the direction coefficient;

[0068] S104: If the opening and closing range of the door meets the set parking safety distance, release the current parking space to complete vehicle parking;

[0069] S105: If the opening and closing range of the door does not meet the set parking safety distance, generate a re-parking option to re-execute vehicle parking.

[0070] In this application, after a parking space is released for the first time, the opening and closing range of the doors of other vehicles is calculated through steps S101 to S103. It should be noted that other vehicles mainly refer to the vehicles on the two adjacent parking spaces on both sides of the parking space, that is, adjacent vehicles. In scenarios without parking space lines, etc., if there are no strict requirements such as parking directions, the "other vehicles" described in this embodiment include several vehicles adjacent to the self-vehicle.

[0071] The other vehicles may include multiple adjacent vehicles. For any adjacent other vehicle, it is necessary to first determine the position of the main driver's door rotation axis and the length of the main driver's door plane. The position of the main driver's door rotation axis is the center of the circle for the door to rotate, and the length of the main driver's door plane is equivalent to the radius of the partial circle formed by the rotation. Here, there is no limitation on how to determine the position of the main driver's door rotation axis and the length of the main driver's door plane. The position of the main driver's door rotation axis can be achieved based on an image vision algorithm, and the length of the main driver's door plane can be obtained by searching the network in combination with the brand and model of the other vehicle.

[0072] In a feasible implementation manner, as a general implementation process, the following method can be used to determine the position of the main driver's door rotation axis and the length of the main driver's door plane of the other vehicle:

[0073] First step: Take the center of the current parking space as the origin, the direction parallel to the long side of the current parking space and towards the inside of the parking space as the Y-axis, and the direction perpendicular to the Y-axis and towards the right as the X-axis to establish a coordinate system;

[0074] Second step: Determine the coordinate position of the outside rearview mirror of the other vehicle in the coordinate system;

[0075] Third step: Determine the calibration value between the outside rearview mirror and the position of the main driver's door rotation axis, and the included angle between the front of the other vehicle and the X-axis;

[0076] Fourth step: Determine the center position of the other vehicle's door rotation according to the coordinate position, the calibration value and the included angle;

[0077] Fifth step: Determine the length of the main driver's door plane of the other vehicle according to the difference between the position of the outside rearview mirror and the position of the rear wheel of the other vehicle.

[0078] It should be emphasized that the above calculation process is only applicable to conventional door-opening vehicles, that is, side-opening vehicles. For unconventional door-opening methods, such as gull-wing doors, scissor doors, etc., the calculation method can be modified accordingly.

[0079] In the actual application process, the main driver's door plane length L of the other vehicle can be first identified based on visual recognition. If the visual recognition cannot achieve this accuracy or cannot recognize, the main driver's door plane length L is calculated according to the difference D between the position of the outside rearview mirror and the position of the rear wheel of the other vehicle recognized by visual perception. For example, L≈D / 2, or the main driver's door plane length L is calculated in combination with other correction parameters.

[0080] In step S102, it is necessary to further identify the orientation of the other vehicle. If the front of the other vehicle faces the same direction as the front of the self-vehicle, the orientation parameter is a positive value. For example, the orientation parameter =1; if the front of the other vehicle faces the same direction as the front of the self-vehicle, the orientation parameter is a negative value. At this time, the orientation parameter =-1.

[0081] At the same time, it is also necessary to determine the direction coefficient. For the released parking space, the right side of the parking space is taken as the standard direction. Refer to Figure 2 , Figure 2 which is the schematic diagram of the vehicle standard direction provided by the embodiment of the present application. Taking the right side of the parking space as the set standard direction, if the other vehicle is located in the opposite direction of the set standard direction of the released parking space, the direction coefficient is a positive value; if the other vehicle is located in the set standard direction of the released parking space, the direction coefficient is a positive value. Figure 2 In , the middle frame is where the parking space of the self-vehicle is located, that is, the released parking space is at position 0. If the parking space is in the opposite direction of the standard direction of position 0, the direction coefficient =1, if the parking space is in the standard direction of position 0, the direction coefficient

[0082] Taking the position of the main driver's door rotating shaft as the center and the main driver's door plane length as the radius, calculate the door opening and closing range of the other vehicle in combination with the orientation parameter and the direction coefficient. Refer to Figure 3 , Figure 3 which is the calculation flow chart of the door opening and closing range of the other vehicle provided by the embodiment of the present application. The specific calculation process is as follows:

[0083] S301: Determine the door opening rotation trajectory of the other vehicle according to the included angle and the main driver's door plane length of the other vehicle;

[0084] S302: Determine the parking safety angle according to the set parking safety distance;

[0085] S303: Determine the safe door opening range according to the parking safety angle and the door opening rotation trajectory;

[0086] S304: When the front of the other vehicle faces the self-vehicle head-on, determine the maximum opening and closing distance according to the coordinate with the larger Y value in the safe door opening range; when the front of the other vehicle faces the same direction as the self-vehicle, determine the maximum opening and closing distance according to the coordinate with the smaller Y value in the safe door opening range.

[0087] It should be noted that since the distance is the smallest when the door of the other vehicle is closed, after determining the maximum opening and closing distance, the door opening and closing range is determined.

[0088] To better illustrate the above calculation process, refer to Figure 4 , Figure 4 which is a schematic diagram for calculating the door opening and closing range provided by the embodiment of the present application. Figure 4 In, taking the center of the released parking space (i.e., where the green rectangular frame is located) as the origin, the direction of the vehicle head inward as the Y-axis, and the direction perpendicular to the Y-axis and to the right as the X-axis to establish a coordinate system. According to the panoramic data, detect the positions of the outer rearview mirrors of the other vehicles around the released parking space respectively. Let the coordinates of the rearview mirror ( Figure 4 shown as the red dot in) be (a, b), and according to the calibration value c (the distance between the rearview mirror and the center position of the circle where the door rotates when opening) and the angle of the other vehicle, the coordinates of the center position of the circle where the door rotates when opening ( Figure 4 shown as the yellow dot in) can be obtained as .

[0089] Let the allowed set parking safety distance be (the opening and closing degree that just meets the conditions), then the included angle between the line connecting the green dot and the yellow dot at the end of the door and the vehicle (the distance formula between two points on the arc). Given and (negative on the left side of the positive direction of the Y-axis and positive on the right side of the positive direction of the Y-axis), the included angle between the line connecting the yellow dot and the green dot and the X-axis is obtained as , and the slope can be obtained as .

[0090] The equation f1 of the line connecting the yellow dot and the green dot can be obtained by the point-slope formula. Since the driver's door rotates in a circular motion around the yellow dot, the green dot is on a circle with the yellow dot as the center and L as the radius, that is, the rotation trajectory of the door opening of the other vehicle is determined. The coordinates of the green dot can be solved according to the circle equation f2 = f1.

[0091] At this time, when the orientation parameter = 1, that is, when the front of the other vehicle faces the opposite direction of the front of the self-vehicle, take the coordinate with the larger ordinate Y value as the second opening and closing distance. And when the orientation parameter = -1, that is, when the front of the other vehicle faces the same direction as the front of the self-vehicle, take the coordinate with the smaller ordinate Y value as the door opening and closing range.

[0092] The opening and closing range of the vehicle door is calculated and can be further compared with the set parking safety distance to determine whether the parking safety distance is met, so as to ensure safe parking and avoid the risk of vehicle door collision. Here, the set parking safety distance is not limited. Let the set parking safety distance be , which can be determined based on the minimum door opening angle and the length of the vehicle door.

[0093] If the opening and closing range of the vehicle door does not meet the set parking safety distance, the user can be reminded that the door of the other vehicle may not be able to open, a re-parking option can be provided, or a collision risk reminder can be generated.

[0094] If the first opening and closing distance meets the set parking safety distance, and the opening and closing range of the vehicle door does not meet the parking safety distance, a re-parking option can be generated at this time to re-perform vehicle parking.

[0095] In the embodiment of the present application, after the parking space is initially released, by determining the position of the main driver's door rotation axis and the length of the main driver's door plane of the other vehicle, and referring to the orientation parameter and the direction coefficient, the opening and closing range of the other vehicle's door is calculated and compared with the set parking safety distance, so as to determine whether the release of the vehicle in the current parking space affects the opening of the other vehicle's door. If the opening and closing range of the other vehicle's door does not meet the set parking safety distance, a re-parking option can be further generated to re-perform parking, adjust the position of the released parking space, avoid inconveniences caused by intelligent parking to other vehicles, reduce manual parking intervention, improve the intelligence of automatic parking, and thus enhance the competitiveness of vehicle products.

[0096] It should also be noted that for special parking spaces, such as inclined parking spaces, since the parking spaces are parallel to each other, the embodiment of the present application is also applicable, that is, the present application is applicable to any scenario where vehicle doors are parked adjacent to each other.

[0097] It is easy to understand that in the actual application process of the present application, usually when the vehicle is parking, it can also be judged whether the door of the vehicle itself meets the set parking safety distance. Therefore, in a feasible implementation manner, after the parking space is initially released, the opening and closing distance of the main driver's door of the vehicle itself and the opening and closing range of the main driver's door of the other vehicle can be calculated, and the parking space is allowed to be released only when both the opening and closing distance and the opening and closing range of the door meet the set parking safety distance. Otherwise, a collision risk reminder is generated and vehicle parking is re-performed to further prevent door collisions caused by improper release of the parking space.

[0098] It should be noted that the movement or planning of the parking space involved in the process of re-performing vehicle parking refers to the change in the parking direction and angle of the vehicle during parking, corresponding to the movement of the virtual parking space when the vehicle itself parks, rather than the movement of the parking space line.

[0099] Based on the above embodiments, the following further describes how to re - execute vehicle parking:

[0100] Refer to Figure 5 , Figure 5 , which is a flowchart of the secondary parking process provided by the embodiments of the present application. This process includes:

[0101] S501: Determine the outer edge points of the other vehicle;

[0102] S502: Screen the key outer edge points among the outer edge points according to the lateral extreme values of the outer edge points. Among them, for the other vehicle with a positive direction coefficient, the point with the largest X value among all the outer edge points is used as the first key outer edge point; for the other vehicle with a negative direction coefficient, the point with the smallest X value among all the outer edge points is used as the second key outer edge point;

[0103] S503: Calculate the lateral difference along the X - axis according to the first key outer edge point and the second key outer edge point;

[0104] S504: If the lateral difference is greater than the vehicle width of the self - vehicle, horizontally translate the parking virtual parking space corresponding to the parking space to the middle position between the outer edge points corresponding to the maximum X value and the minimum X value respectively;

[0105] S505: If the lateral difference is not greater than the vehicle width of the self - vehicle, and the product of the orientation parameter and the direction coefficient of the target other vehicle is negative, when the orientation parameter is negative, keep the parking space position unchanged; when the orientation parameter is positive, rotate around the center of the parking space to adjust the parking direction of the parking virtual parking space so that the tilt angle of the parking virtual parking space aligns with the included angle;

[0106] S506: Take the larger value of the angles between the self - vehicle and adjacent vehicles, and extend along the vehicle rotation direction to determine the rotation angle range;

[0107] S507: Rotate the parking virtual parking space within the rotation angle range, and control the self - vehicle to park along the rotated parking virtual parking space.

[0108] First, determine the outer edge points of the vehicle. When the product of the orientation parameter and the direction coefficient is negative, that is * =-1, take the four corner points of the other vehicle as the outer edge points. For example =-1, consider the left - hand corner point of the vehicle, =1, focus on the right - hand corner point of the vehicle; when the product of the orientation parameter and the direction coefficient is positive, take the four corner points and the end position of the driver's door of the other vehicle as the outer edge points.

[0109] Find the direction coefficient The outermost edge point with the minimum x value when x = -1 and the direction coefficient The outermost edge point with the maximum value when = 1. Calculate the horizontal difference along the X-axis between the two points. The horizontal difference needs to be multiplied by the minimum value of the angles of the two vehicles with the Y-axis. At this time, the ego vehicle and the other vehicle should have the same direction as the angle with the Y-axis. If they are in the opposite direction, there is no need to multiply by the minimum value of the angles of the two vehicles with the Y-axis.

[0110] If the horizontal difference is greater than the width of the ego vehicle, the parking virtual space corresponding to the parking space can be horizontally translated to the middle position between the outermost edge points corresponding to the maximum X value and the minimum X value respectively.

[0111] If the horizontal difference is not greater than the width of the ego vehicle, and the product of the orientation parameter of the target other vehicle and the direction coefficient is negative, the orientation parameter needs to be further considered at this time:

[0112] When the orientation parameter is negative, keep the position of the parking space unchanged.

[0113] When the orientation parameter is positive, rotate the direction of the parking virtual space around the center of the parking space to align the tilt angle of the parking virtual space with the included angle.

[0114] At the same time, take the larger value of the angles between the ego vehicle and the adjacent vehicle as the rotation direction. In other words, it is the larger value of the angles between the central axis of the parking space at the initial release and the central axis of the adjacent vehicle (not the central axis of the adjacent parking space), to ensure that the vehicle can meet the requirement of opening the door of the other vehicle with a larger tilt after rotation. Extend along the vehicle rotation direction to determine the rotation angle range, and then rotate the parking virtual space within the rotation angle range, and control the ego vehicle to park along the rotated parking virtual space.

[0115] After rotating the parking virtual space within the rotation angle range, perpendicular lines can be drawn from the outermost edge points of the two adjacent other vehicles to the rotation line to obtain the first perpendicular distance and the second perpendicular distance.

[0116] If the sum of the first perpendicular distance and the second perpendicular distance is greater than the sum of the width of the ego vehicle and the set parking safety distance, stop the rotation of the parking space. If the sum of the first perpendicular distance and the second perpendicular distance is not greater than the sum of the width of the ego vehicle and the set parking safety distance, it is determined that the parking space cannot be released and the parking is cancelled.

[0117] The calculation methods of the first perpendicular distance and the second perpendicular distance can be as follows:

[0118] For each angle in the rotation angle range, determine the equation of the central axis of the ego vehicle. Then, according to the equation of the central axis and the position of the end of the driver's door of the first other vehicle, determine the first perpendicular distance. At the same time, according to the equation of the central axis and the position of the end of the driver's door of the second other vehicle, determine the second perpendicular distance. Among them, the first other vehicle and the second other vehicle are both adjacent vehicles of the ego vehicle.

[0119] As shown in Figure 6 the figure Figure 6 is a schematic diagram of the re-parking judgment process provided by the embodiment of the present application. Figure 6 In the figure, the middle rectangular frame is the initial parking space of the vehicle itself, and the right rectangular frame is the parking space of the adjacent vehicle formed due to the inclined parking angle, which obviously squeezes the parking space of the vehicle itself. If the front of the vehicle itself faces inward (i.e., Figure 6 downward as shown), it will cause the driver's door of the main driving position to not open normally. If the difference between the two points is less than or equal to the width of the vehicle itself, and the angle between the vehicle without a green dot and the Y-axis is the same as the opening angle of the driver's door of the adjacent vehicle, at this time, the larger value of the angles of the vehicle itself and the adjacent vehicle can be taken as the rotation direction, and extending along the vehicle's turning direction, the allowable rotation angle range 0~g can be determined. Then, the parking space is rotated within the allowable rotation angle range 0~g, and the vehicle itself is controlled to park along the rotated parking space.

[0120] Refer to Figure 7 the figure Figure 7 which is a schematic diagram of the parking space rotation provided by the embodiment of the present application. Figure 7 In the figure, perpendiculars are drawn from the outer edge points of two adjacent other vehicles along the rotation line, and the first perpendicular distance L1 and the second perpendicular distance L2 can be obtained. Figure 7 The black line shown in the figure is the central axis of the parking virtual space where the maximum allowable rotation angle is located.

[0121] If the sum of the first perpendicular distance and the second perpendicular distance is greater than the sum of the width of the vehicle itself and the set parking safety distance, that is, L1+L2>Widenth+ at this time, stop the rotation of the parking space. Widenth is the width of the vehicle itself.

[0122] At this time, the parking space can be released according to the above method. If the condition of L1+L2>Widenth+ cannot be rotated out, that is, the sum of the first perpendicular distance and the second perpendicular distance is not greater than the sum of the width of the vehicle itself and the set parking safety distance, it means that the parking space cannot be released, and it can be determined that the parking space cannot be released and the parking is cancelled. Refer to Figure 8 the figure Figure 8 which is a schematic diagram after the parking space rotation provided by the embodiment of the present application. The black line is the central axis of the parking space at the initial release, and the red line is the central axis of the parking virtual space after the parking space rotation is re-executed for parking. The angle between the two is the allowable rotation angle range g shown in the figure. It can be clearly seen from Figure 8 that after the parking space is rotated, the risk of door collision can be significantly reduced.

[0123] Refer to Figure 8 the figure, the equation of the red line is which is rewritten in the form of Ax+By+C=0, that is .

[0124] For calculating the first perpendicular distance L1, it is actually to solve the distance from the green point to the straight line, and then this distance can be expressed as:

[0125] ;

[0126] Among them, in the above formula, and are the coordinates of the green point respectively. These coordinates can be obtained from the coordinate system established with the center point of the initial release parking space as the origin, the standard direction as the X-axis, and the direction perpendicular to the standard direction as the Y-axis. And Figure 8 the equation of the red straight line shown is also established in this coordinate system.

[0127] Similarly, the second perpendicular distance L2 can also be obtained, which will not be elaborated here.

[0128] It should be noted that this embodiment is described by taking the case that there are two adjacent parking spaces for the vehicle itself as an example. If there is only one adjacent vehicle, on the other side, it can be regarded as having no vehicle or being processed according to the parking standard. The calculation difficulty is simpler than this embodiment, which will not be elaborated here.

[0129] In this embodiment, by rotating the parking space, the relative position and angle between the vehicle itself and the adjacent vehicle can be adjusted, so that when the vehicle door is opened, it can maintain a sufficient safety distance from the adjacent vehicle or obstacle, thereby reducing the possibility of the vehicle door collision. For example, in a narrow parking space or a crowded parking lot, rotating the parking space can effectively avoid the vehicle door scraping between the vehicle itself and the adjacent vehicle. At the same time, it enables the vehicle to more flexibly adjust its position and direction when parking, facilitating the driver to complete the parking operation more smoothly and improving the overall space utilization rate of the parking lot area.

[0130] Next, a vehicle parking system provided by an embodiment of the present application will be introduced. A vehicle parking method described below can be correspondingly referred to the vehicle parking system described above.

[0131] See Figure 9 ,[[]]END]] Figure 9 which is a schematic structural diagram of a vehicle parking system provided by an embodiment of the present application. The system includes:

[0132] An other-vehicle detection module, configured to determine the position of the main driver's door rotation shaft and the length of the main driver's door plane of the other vehicle after detecting the initial release of the parking space;

[0133] A parking parameter determination module, configured to determine an orientation parameter according to the co-directionality between the vehicle itself and the front of the other vehicle, and determine a direction coefficient according to the parking positions of the vehicle itself and the other vehicle;

[0134] The other vehicle door opening and closing detection module is used to calculate the door opening and closing range of the other vehicle with the position of the main driver's door rotating shaft as the center and the length of the main driver's door plane as the radius, in combination with the orientation parameter and the direction coefficient;

[0135] The parking module is used to release the current parking space and complete vehicle parking if the door opening and closing range meets the set parking safety distance;

[0136] The secondary parking module is used to generate a re-parking option for re-executing vehicle parking if the door opening and closing range does not meet the set parking safety distance.

[0137] Based on the above embodiments, as a preferred embodiment, the other vehicle detection module is a module for performing the following steps:

[0138] Establish a coordinate system with the center of the current parking space as the origin, parallel to the long side of the current parking space and facing the inside of the parking space as the Y-axis, and perpendicular to the Y-axis and facing right as the X-axis;

[0139] Determine the coordinate position of the external rearview mirror of the other vehicle in the coordinate system;

[0140] Determine the calibration value between the external rearview mirror and the position of the main driver's door rotating shaft, and the included angle between the front of the other vehicle and the X-axis;

[0141] Determine the center position when the door of the other vehicle rotates according to the coordinate position, the calibration value and the included angle;

[0142] Determine the length of the main driver's door plane of the other vehicle according to the difference between the position of the external rearview mirror and the position of the rear wheel of the other vehicle.

[0143] Based on the above embodiments, as a preferred embodiment, the other vehicle door opening and closing detection module includes:

[0144] The trajectory determination unit is used to determine the door opening rotation trajectory of the other vehicle according to the included angle and the length of the main driver's door plane of the other vehicle;

[0145] The safety angle determination unit is used to determine the parking safety angle according to the set parking safety distance;

[0146] The opening range determination unit is used to determine the safe door opening range according to the parking safety angle and the door opening rotation trajectory;

[0147] The maximum opening and closing distance determination unit is used to determine the maximum opening and closing distance according to the coordinate with a larger Y value in the door safe opening range when the front of the other vehicle faces the self-vehicle; and determine the maximum opening and closing distance according to the coordinate with a smaller Y value in the door safe opening range when the front of the other vehicle faces the same direction as the self-vehicle.

[0148] Based on the above embodiments, as a preferred embodiment, the secondary parking module includes a re-parking unit,

[0149] The parking unit is a module for performing the following steps:

[0150] Determine the outer edge points of the other vehicle; wherein, when the product of the orientation parameter and the direction coefficient is negative, the four corner points of the other vehicle are used as the outer edge points; when the product of the orientation parameter and the direction coefficient is positive, the four corner points and the end position of the driver's door of the other vehicle are used as the outer edge points;

[0151] Screen the key outer edge points among the outer edge points according to the lateral extreme values of the outer edge points; wherein, for the other vehicle with a positive direction coefficient, the point with the largest X value among all the outer edge points is used as the first key outer edge point; for the other vehicle with a negative direction coefficient, the point with the smallest X value among all the outer edge points is used as the second key outer edge point;

[0152] Calculate the lateral difference along the X-axis according to the first key outer edge point and the second key outer edge point;

[0153] If the lateral difference is greater than the vehicle width of the self-vehicle, horizontally translate the corresponding parking virtual parking space to the middle position between the outer edge points corresponding to the maximum X value and the minimum X value respectively;

[0154] If the lateral difference is not greater than the vehicle width of the self-vehicle, and the product of the orientation parameter and the direction coefficient of the target other vehicle is negative, when the orientation parameter is negative, keep the parking space position unchanged; when the orientation parameter is positive, rotate the parking direction of the parking virtual parking space around the center of the parking space to align the tilt angle of the parking virtual parking space with the included angle;

[0155] Take the larger value of the angles between the self-vehicle and the adjacent vehicles, extend along the vehicle rotation direction, and determine the rotation angle range;

[0156] Rotate the parking virtual parking space within the rotation angle range, and control the self-vehicle to park along the rotated parking virtual parking space.

[0157] Based on the above embodiments, as a preferred embodiment, it further includes:

[0158] A parking space rotation determination unit is configured to draw perpendicular lines from the outer edge points of two adjacent other vehicles to the rotation line to obtain a first perpendicular distance and a second perpendicular distance. If the sum of the first perpendicular distance and the second perpendicular distance is greater than the sum of the vehicle width of the host vehicle and the set parking safety distance, the parking space rotation is stopped. If the sum of the first perpendicular distance and the second perpendicular distance is not greater than the sum of the vehicle width of the host vehicle and the set parking safety distance, it is determined that the parking space cannot be released and the parking is cancelled.

[0159] Based on the above embodiments, as a preferred embodiment, the parking space rotation determination unit includes:

[0160] A perpendicular distance calculation sub-unit is configured to, for each angle in the rotation angle range, determine the central axis equation of the host vehicle; determine the first perpendicular distance according to the central axis equation and the position of the end of the driver's door of the first other vehicle; determine the second perpendicular distance according to the central axis equation and the position of the end of the driver's door of the second other vehicle; wherein, the first other vehicle and the second other vehicle are both adjacent vehicles of the host vehicle.

[0161] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the steps provided by the above embodiments can be implemented. The storage medium may include: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0162] The present application also provides an electronic device. Refer to Figure 10 , a structural diagram of an electronic device provided by an embodiment of the present application, as shown in Figure 10 and may include a processor 1410 and a memory 1420.

[0163] Among them, the processor 1410 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1410 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 1410 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 1410 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1410 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0164] The memory 1420 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 1420 may further include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In this embodiment, the memory 1420 is at least used to store the following computer program 1421. After the computer program is loaded and executed by the processor 1410, it can implement the relevant steps in the methods executed by the electronic device side disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 1420 may further include an operating system 1422 and data 1423, etc., and the storage method may be transient storage or permanent storage. Among them, the operating system 1422 may include Windows, Linux, Android, etc.

[0165] In some embodiments, the electronic device may further include a display screen 1430, an input / output interface 1440, a communication interface 1450, a sensor 1460, a power supply 1470, and a communication bus 1480.

[0166] Of course, Figure 10 The structure of the shown electronic device does not constitute a limitation on the electronic device in the embodiments of the present application. In practical applications, the electronic device may include more or fewer components than Figure 10 shown, or combine some components.

[0167] The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0168] In this text, specific examples are used to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principles of the present application, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

[0169] It should also be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

Claims

1. A vehicle parking method, characterized in that, Including: After detecting the initial release of the parking space, determine the position of the main driver's door hinge and the length of the main driver's door plane of the other vehicle; Determine the orientation parameter according to the co - directionality between the host vehicle and the front of the other vehicle, and determine the direction coefficient according to the parking space positions of the host vehicle and the other vehicle; Taking the position of the main driver's door hinge as the center and the length of the main driver's door plane as the radius, calculate the opening and closing range of the door of the other vehicle in combination with the orientation parameter and the direction coefficient; If the opening and closing range of the door meets the set parking safety distance, release the current parking space and complete vehicle parking; If the opening and closing range of the door does not meet the set parking safety distance, generate a re - parking option to re - execute vehicle parking.

2. The vehicle parking method according to claim 1, characterized in that, Determining the position of the main driver's door hinge and the length of the main driver's door plane of the other vehicle includes: Taking the center of the current parking space as the origin, establishing a coordinate system with the long side of the current parking space as the Y - axis parallel and facing the inside of the parking space, and the X - axis perpendicular to the Y - axis and facing right; Determine the coordinate position of the outside rear - view mirror of the other vehicle in the coordinate system; Determine the calibration value between the outside rear - view mirror and the position of the main driver's door hinge, and the included angle between the front of the other vehicle and the X - axis; Determine the center position when the door of the other vehicle rotates according to the coordinate position, the calibration value and the included angle; Determine the length of the main driver's door plane of the other vehicle according to the difference between the position of the outside rear - view mirror and the position of the rear wheel of the other vehicle.

3. The vehicle parking method according to claim 2, wherein Determining the orientation parameter according to the co - directionality between the host vehicle and the front of the other vehicle, and determining the direction coefficient according to the parking space positions of the host vehicle and the other vehicle includes: If the front of the other vehicle faces the opposite direction of the front of the host vehicle, the orientation parameter is positive; if the front of the other vehicle faces the same direction as the front of the host vehicle, the orientation parameter is negative; Taking the right side of the parking space as the set standard direction, if the other vehicle is located in the opposite direction of the set standard direction of the released parking space, the direction coefficient is positive; if the other vehicle is located in the set standard direction of the released parking space, the direction coefficient is positive.

4. The vehicle parking method according to claim 3, characterized in that, If the parking space is a standard parking space, taking the position of the main driver's door hinge as the center and the length of the main driver's door plane as the radius, calculating the opening and closing range of the door of the other vehicle in combination with the orientation parameter and the direction coefficient includes: Determine the door opening rotation trajectory of the other vehicle according to the included angle and the length of the main driver's door plane of the other vehicle; Determine the parking safety angle according to the set parking safety distance; Determine the safe door opening range according to the parking safety angle and the door opening rotation trajectory; When the front of the other vehicle faces the opposite direction of the host vehicle, determine the maximum opening and closing distance according to the coordinate with the larger Y value in the safe door opening range; when the front of the other vehicle faces the same direction as the host vehicle, determine the maximum opening and closing distance according to the coordinate with the smaller Y value in the safe door opening range.

5. The vehicle parking method according to claim 3, wherein The process of re - executing vehicle parking includes: Determine the outer edge points of the other vehicle; wherein, when the product of the orientation parameter and the direction coefficient is negative, take the four corner points of the other vehicle as the outer edge points; when the product of the orientation parameter and the direction coefficient is positive, take the four corner points and the end position of the driver's door of the other vehicle as the outer edge points; Screen the key outer edge points among the outer edge points according to the lateral extreme values of the outer edge points; wherein, for the other vehicle with a positive direction coefficient, take the point with the largest X value among all the outer edge points as the first key outer edge point; for the other vehicle with a negative direction coefficient, take the point with the smallest X value among all the outer edge points as the second key outer edge point; Calculate the lateral difference along the X-axis according to the first key outer edge point and the second key outer edge point; If the lateral difference is greater than the width of the host vehicle, horizontally translate the corresponding parking virtual parking space of the parking space to the middle position between the outer edge points corresponding to the maximum X value and the minimum X value respectively; If the lateral difference is not greater than the width of the host vehicle, and the product of the orientation parameter and the direction coefficient of the target other vehicle is negative, when the orientation parameter is negative, keep the parking space position unchanged; when the orientation parameter is positive, rotate the parking direction of the parking virtual parking space around the center of the parking space to align the tilt angle of the parking virtual parking space with the included angle; Take the larger value of the angles between the host vehicle and the adjacent vehicles, extend along the vehicle turning direction, and determine the rotation angle range; Rotate the parking virtual parking space within the rotation angle range, and control the host vehicle to park along the rotated parking virtual parking space.

6. The vehicle parking method according to claim 5, characterized in that, After rotating the parking virtual parking space within the rotation angle range, it further includes: Draw perpendicular lines from the outer edge points of two adjacent other vehicles to the rotation line to obtain the first perpendicular distance and the second perpendicular distance; If the sum of the first perpendicular distance and the second perpendicular distance is greater than the sum of the width of the host vehicle and the set parking safety distance, stop the rotation of the parking space; If the sum of the first perpendicular distance and the second perpendicular distance is not greater than the sum of the width of the host vehicle and the set parking safety distance, determine that the parking space cannot be released and cancel the parking.

7. The vehicle parking method according to claim 6, characterized in that, Drawing perpendicular lines from each of the outer edge points to the rotation line to obtain the first perpendicular distance and the second perpendicular distance includes: For each angle within the rotation angle range, determine the central axis equation of the host vehicle; Determine the first perpendicular distance according to the central axis equation and the end position of the driver's door of the main driving door of the first other vehicle; Determine the second perpendicular distance according to the central axis equation and the end position of the driver's door of the main driving door of the second other vehicle; wherein, the first other vehicle and the second other vehicle are both adjacent vehicles of the host vehicle.

8. A vehicle parking system, characterized in that, It includes: An other vehicle detection module, configured to determine the position of the rotation axis of the driver's door and the length of the plane of the driver's door of the other vehicle after detecting the initial release of the parking space; A parking parameter determination module, configured to determine the orientation parameter according to the co-directionality between the host vehicle and the front of the other vehicle, and determine the direction coefficient according to the parking positions of the host vehicle and the other vehicle; The other vehicle door opening and closing detection module is used to calculate the door opening and closing range of the other vehicle by taking the position of the main driver's door rotating shaft as the center of a circle and the length of the main driver's door plane as the radius, in combination with the orientation parameter and the direction coefficient; The parking module is used to release the current parking space and complete vehicle parking if the door opening and closing range meets the set parking safety distance; The secondary parking module is used to generate a re-parking option for re-executing vehicle parking if the door opening and closing range does not meet the set parking safety distance.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the vehicle parking method according to any one of claims 1-7.

10. An electronic device, characterized in that, It includes a memory and a processor. A computer program is stored in the memory, and when the processor calls the computer program in the memory, it implements the steps of the vehicle parking method according to any one of claims 1-7.

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