Vehicle composition method and device, vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle composition method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining a cloud map of a parking area from a cloud when it is detected that the vehicle travels to an electronic fence range of the parking area; when it is detected that the position of the vehicle exceeds a first boundary of a corresponding area of the cloud map, or the vehicle is located in the corresponding area of the cloud map but lacks a key frame of the cloud map, first scene data and first positioning data around the vehicle are obtained; and according to the first scene data and the first positioning data around the vehicle, constructing first composition data, and uploading the first composition data to the cloud, so that the cloud updates a cloud map based on the first composition data. By applying the technical scheme of the invention, reliable parking area navigation information and more optimized parking guide service can be realized for subsequent vehicles.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of vehicles, and more particularly to a method and apparatus for vehicle mapping, a vehicle, and a storage medium. Background Art

[0002] Against the backdrop of the rapid development of intelligent transportation and autonomous driving technologies today, vehicles are increasingly reliant on high-precision maps. Especially in parking scenarios, an accurate and real-time updated parking area map can significantly improve the parking efficiency and safety of vehicles. With the continuous development of cities, the layout and facilities of parking areas are also constantly changing, which requires the parking area map to have the ability to be dynamically updated.

[0003] Traditional parking area maps often suffer from the problem of untimely updates. Over time, parking areas may change due to factors such as construction and layout adjustments, resulting in subsequent vehicles being unable to obtain reliable parking area navigation information and more optimized parking guidance services when driving in the parking area. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a method and apparatus for vehicle mapping, a vehicle, and a storage medium, which are used to solve the problems in the prior art that reliable parking area navigation information and more optimized parking guidance services cannot be provided for subsequent vehicles.

[0005] According to one aspect of the embodiments of the present invention, a method for vehicle mapping is provided, and the method includes:

[0006] When it is detected that the vehicle has traveled within the electronic fence range of the parking area, obtain the cloud map of the parking area from the cloud;

[0007] When it is detected that the vehicle's location exceeds the first boundary of the area corresponding to the cloud map, or the vehicle is within the area corresponding to the cloud map but lacks key frames of the cloud map, obtain the first scene data and the first positioning data around the vehicle;

[0008] Construct first mapping data according to the first scene data and the first positioning data around the vehicle, and upload the first mapping data to the cloud so that the cloud updates the cloud map based on the first mapping data.

[0009] According to another aspect of the embodiments of the present invention, a vehicle mapping apparatus is provided, including:

[0010] A first acquisition module, configured to obtain the cloud map of the parking area from the cloud when it is detected that the vehicle has traveled within the electronic fence range of the parking area;

[0011] A second acquisition module, configured to acquire first scene data and first positioning data around the vehicle when it is detected that the position of the vehicle exceeds the first boundary of the corresponding area of the cloud map, or when the vehicle is in the corresponding area of the cloud map but lacks key frames of the cloud map;

[0012] A construction module, configured to construct first composition data according to the first scene data and the first positioning data around the vehicle, and upload the first composition data to the cloud, so that the cloud updates the cloud map based on the first composition data.

[0013] According to another aspect of the embodiments of the present invention, there is provided a vehicle, including: a processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0014] The memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the operations of the above-mentioned vehicle composition method.

[0015] According to still another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, characterized in that at least one executable instruction is stored in the storage medium, and when the executable instruction runs on a vehicle composition device / vehicle, the vehicle composition device / vehicle is caused to execute the operations of the above-mentioned vehicle composition method.

[0016] According to still another aspect of the embodiments of the present invention, there is provided a computer program product, characterized in that it includes a computer program, and when the computer program is executed by a processor, the vehicle composition device / vehicle is caused to execute the operations of the above method.

[0017] In the embodiments of the present invention, when it is detected that the vehicle travels within the electronic fence range of the parking area, the cloud map of the parking area is acquired from the cloud; when it is detected that the position of the vehicle exceeds the first boundary of the corresponding area of the cloud map, or when the vehicle is in the corresponding area of the cloud map but lacks key frames of the cloud map, the first scene data and the first positioning data around the vehicle are acquired; according to the first scene data and the first positioning data around the vehicle, the first composition data is constructed and the first composition data is uploaded to the cloud, so that the cloud updates the cloud map based on the first composition data. Through this technical solution, when the vehicle enters the electronic fence of the parking area, it can acquire the map from the cloud to ensure initial navigation. When the vehicle's position exceeds the map boundary or lacks key frames, by acquiring the surrounding scene and positioning data to construct composition data and upload it, the cloud map can be updated in real time, which enables the cloud map to always maintain the latest state, greatly improving the accuracy and integrity of the map data, providing more accurate and reliable parking area navigation information for subsequent vehicles, and optimizing the parking guidance service.

[0018] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to be able to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the content of the specification. And in order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and understandable, the following specifically illustrates the specific implementation manners of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings are only used to illustrate the embodiments and are not considered as a limitation to the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0020] Figure 1 A flowchart of a first embodiment of a vehicle composition method provided by the present invention is shown;

[0021] Figure 2 A flowchart of a second embodiment of a vehicle composition method provided by the present invention is shown;

[0022] Figure 3 A flowchart of a third embodiment of a vehicle composition method provided by the present invention is shown;

[0023] Figure 4 A flowchart of a fourth embodiment of a vehicle composition method provided by the present invention is shown;

[0024] Figure 5 A schematic structural diagram of an embodiment of a vehicle composition device provided by the present invention is shown;

[0025] Figure 6 A schematic structural diagram of an embodiment of a vehicle provided by the present invention is shown. DETAILED DESCRIPTION OF THE INVENTION

[0026] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0027] In the context of the rapid development of intelligent transportation and autonomous driving technologies, vehicles are increasingly relying on high-precision maps. Especially in parking scenarios, an accurate and real-time updated parking area map can greatly improve the efficiency and safety of vehicle parking. With the continuous development of cities, the layout and facilities of parking areas are also constantly changing, which requires the parking area map to have the ability of dynamic update.

[0028] However, the existing parking area map technology has the following problems:

[0029] 1. The memory route mapping for valet parking exists in the controller of a single vehicle and is only used by a single vehicle;

[0030] 2. Extensions not supported by single mapping. After the vehicle-side mapping is completed, secondary expansion is not supported. For example, if the single coverage range is insufficient or expansion is desired later, it is necessary to re-automatically perform route memory or mapping.

[0031] 3. For the parking lot scheme with multiple entrances, single mapping only supports the use of a single entrance. For multiple entrances, a complete map must be built for each entrance, and the overlapping parts cannot be shared.

[0032] 4. The update of the cloud map often lags behind and is difficult to keep up with the actual change speed of the parking area. For example, after new parking space planning, temporary road closures or construction occur, the cloud map cannot reflect these changes in a timely manner, resulting in deviations when the vehicle navigates according to the old map after entering the parking area.

[0033] Based on the above technical problems, the technical concept of the present invention is as follows: If it can be detected that when the vehicle enters the electronic fence of the parking area, first obtain the relevant existing cloud map. If during the vehicle's driving process, once it is detected that the location exceeds the map boundary or the key frames in the area are missing, use the sensors carried by the vehicle itself to quickly collect the surrounding scene data, combine with the positioning data obtained by the positioning system, and construct the mapping data through algorithms. This mapping data can reflect the real-time situation around the vehicle, and then upload it to the cloud. The cloud updates the missing parts in the cloud map based on this data, so as to continuously optimize the map, which can ensure its accuracy and integrity, and solve the problems of untimely map update and incomplete coverage.

[0034] Next, the technical solution of the present invention will be described in detail through specific embodiments. The execution subject of the present invention is the vehicle.

[0035] It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0036] Figure 1 The flowchart of the first embodiment of the mapping method of the vehicle provided by the present invention is shown. This method is executed by the vehicle. As Figure 1 shown, this method includes the following steps:

[0037] Step 11. When it is detected that the vehicle travels within the range of the electronic fence of the parking area, obtain the cloud map of the parking area from the cloud;

[0038] In this step, when multiple sensors equipped on the vehicle continuously obtain the vehicle's longitude and latitude information and combine with the high-precision map data to determine that the vehicle has entered the electronic fence range, the cloud map of the parking area is obtained from the cloud through communication methods such as interaction with the Telematics BOX (TBOX).

[0039] Optionally, the electronic fence can create an invisible boundary around the parking area through means such as wireless communication and satellite positioning; when the vehicle enters or leaves this boundary, the vehicle can detect it in a timely manner. The setting of the electronic fence can accurately determine whether the vehicle has entered the parking area and provide an accurate trigger condition for subsequent operations.

[0040] In addition, the parking area can be a specific geographical range specifically designated for vehicle parking, such as the supporting parking lots in shopping malls, office buildings, residential areas, etc., as well as the power-off frames at the roadside; these areas generally have clear physical boundary markings and can be determined based on the vehicle-mounted sensors.

[0041] Optionally, the implementation of "obtaining the cloud map from the cloud" in step 11 can be as follows:

[0042] Step 1: Obtain the first version number of the cloud map of the parking area from the cloud;

[0043] In this implementation, the TBOX obtains the first version number of the cloud map of the parking area from the cloud and at the same time reads the second version number corresponding to the cloud map of this parking area stored locally;

[0044] Among them, the version number is the key information indicating the new and old status of the map data. By comparing these two version numbers, the system can determine whether the local map is synchronized with the cloud map.

[0045] If the two are inconsistent, it means that the local map data may be outdated and cannot accurately reflect the latest situation of the parking area, such as missing newly planned parking spaces, changed driving routes, etc.

[0046] Step 2: If the first version number is inconsistent with the second version number of the cloud map stored locally, obtain the cloud map of the parking area from the cloud and replace the cloud map stored locally.

[0047] In this implementation, once it is confirmed that the version numbers are inconsistent, the vehicle will start the map update process. The TBOX will obtain the cloud map of the parking area from the cloud again. This cloud map contains the latest parking area information. After successful acquisition, the new map will directly replace the old map stored locally.

[0048] This operation ensures that when the vehicle uses the parking area map, it always relies on the latest and most accurate data, providing reliable support for operations such as vehicle navigation and route planning in the parking area, and improving the efficiency and safety of parking.

[0049] Step 12: When it is detected that the vehicle's location exceeds the first boundary of the corresponding area of the cloud map, or the vehicle is in the corresponding area of the cloud map but lacks key frames of the cloud map, obtain the first scene data and the first positioning data around the vehicle;

[0050] In this step, there are at least the following triggering conditions before obtaining the first scene data and the first positioning data around the vehicle:

[0051] Condition 1: Regarding the vehicle's location exceeding the first boundary of the corresponding area of the cloud map, it can be understood that the vehicle was originally driving or operating in the parking area according to the cloud map. However, as the vehicle moves, the system, through the vehicle's positioning information, detects that the vehicle has exceeded the coverage range of the currently used cloud map; or when the vehicle is driving in the parking area, it is determined that the vehicle is not within the cloud map.

[0052] Condition 2: Regarding the vehicle being in the corresponding area of the cloud map but lacking key frames of the cloud map, it can be understood that although the vehicle is still within the coverage area of the cloud map, the map data is incomplete. Key frames are important components of the map and may contain detailed features, landmark information, etc. of a specific area. Therefore, when the key frames related to the vehicle's location are missing, the information of the cloud map in this parking area is not accurate and complete enough to provide comprehensive navigation and environmental perception support for the vehicle.

[0053] Optionally, the first scene data can be visual data or / and environmental perception data collected by the vehicle, such as at least one of camera image data, lidar point cloud data, millimeter-wave radar data, and ultrasonic sensor data; the first positioning data can be positioning data collected by the vehicle, such as at least one of global positioning system data, inertial measurement unit data, and wheel speed sensor data.

[0054] Step 13: According to the first scene data and the first positioning data around the vehicle, construct the first composition data and upload the first composition data to the cloud so that the cloud can update the cloud map based on the first composition data.

[0055] In this step, various environmental elements in the first scene data are closely associated with the first positioning data to generate a set of composition data that can accurately reflect the actual situation around the vehicle's location.

[0056] For example, the road signs recognized from the camera images are accurately marked at the corresponding geographical positions in the composition data based on the positioning data.

[0057] In a possible implementation, when constructing the first composition data, based on the first scene data, feature matching can be achieved, that is, ordinary parking spaces, new energy vehicle parking spaces (based on the feature matching of the charging pile model), elevators, etc. are recognized and marked in the map, and combined with the first positioning data, the first composition data is constructed.

[0058] Furthermore, after the construction is completed, the first composition data will be uploaded to the server in the cloud through the vehicle's communication module TBOX. After receiving these data, the cloud will integrate the first composition data into the existing cloud map according to the established map update strategy. For those newly developed areas due to the vehicle driving out of the original map boundary, the cloud will draw new map blocks based on the uploaded data; if there is a lack of key frames in the map, the corresponding map details will be supplemented and improved with the new data, such as adding new parking space information, correcting the road direction, etc., so as to achieve real-time update of the cloud map and ensure that it always fits the real scene of the parking area.

[0059] Optionally, in step 13, "construct the first composition data according to the first scene data and the first positioning data around the vehicle" can be implemented as follows:

[0060] Step 1: When it is detected that the vehicle is in a running state, obtain the running distance of the vehicle.

[0061] In this implementation, emphasis is placed on the control of the vehicle running state and distance monitoring. The vehicle continuously monitors the vehicle state, and once it detects that the vehicle is in a running state, it immediately starts the process of obtaining the running distance of the vehicle.

[0062] This process can be achieved by means of the vehicle's own sensors. For example, the wheel speed sensor can accurately measure the rotation speed of the wheels. Combining the pre-set tire parameters and transmission ratio information of the vehicle, the running distance of the vehicle can be calculated in real time through a specific algorithm.

[0063] Step 2: When the running distance is greater than the preset distance, construct the first composition data according to the first scene data and the first positioning data around the vehicle.

[0064] In this implementation, the vehicle will compare the obtained running distance with the pre-set preset distance in real time. The preset distance is a key threshold determined according to the actual application scenario and requirements. Its setting is designed to screen out that the vehicle performs subsequent operations only after driving to a certain range, avoiding frequent unnecessary data processing.

[0065] At this time, when the running distance of the vehicle is greater than the preset distance, it immediately enters the construction phase. Since the first scene data and the first positioning data around the vehicle have been obtained in the early stage, the vehicle side starts to construct the first mapping data.

[0066] It should be understood that in this embodiment, for different vehicles, there may be situations where they enter from different entrances of the parking area. The cloud obtains the mapping data of different vehicles and can verify and adjust the cloud map of the parking area to obtain a more accurate cloud map.

[0067] The mapping method of the vehicle provided by the embodiment of the present invention includes: when it is detected that the vehicle travels within the electronic fence range of the parking area, obtaining the cloud map of the parking area from the cloud; when it is detected that the position of the vehicle exceeds the first boundary of the corresponding area of the cloud map or the vehicle is in the corresponding area of the cloud map but lacks the key frames of the cloud map, obtaining the first scene data and the first positioning data around the vehicle; constructing the first mapping data according to the first scene data and the first positioning data around the vehicle, and uploading the first mapping data to the cloud so that the cloud updates the cloud map based on the first mapping data. Through this technical solution, when the vehicle enters the electronic fence of the parking area, it can obtain the map from the cloud to ensure initial navigation. When the vehicle's position exceeds the map boundary or lacks key frames, by obtaining the surrounding scene and positioning data to construct mapping data and uploading it, the cloud map can be updated in real time, which keeps the cloud map in the latest state all the time, greatly improving the accuracy and integrity of the map data, providing more accurate and reliable parking area navigation information for subsequent vehicles, and optimizing the parking guidance service.

[0068] Based on the above embodiment, Figure 2 The flowchart of the second embodiment of the mapping method of the vehicle provided by the present invention is shown, and this method is executed by the vehicle. As Figure 2 shown, this method may further include the following steps:

[0069] Step 21: If the cloud map of the parking area is not obtained from the cloud, obtain the second scene data and the second positioning data around the vehicle;

[0070] In this step, when the vehicle is in the parking area and executes the relevant operation process, it attempts to obtain the cloud map of the parking area from the cloud. However, due to network failures, the map data has not been generated yet, or other reasons, the vehicle fails to successfully obtain the cloud map of the parking area from the cloud. At this time, the vehicle will immediately start the acquisition mechanism for the second scene data and the second positioning data around the vehicle.

[0071] It should be understood that the second scene data and the second positioning data in this implementation are the same as the first scene data and the first positioning data above, only to distinguish the triggers under different acquisition conditions.

[0072] Optionally, a possible implementation of "acquiring second scene data and second positioning data around the vehicle" in step 21 can be: in response to the user enabling the composition function, acquire second scene data and second positioning data around the vehicle.

[0073] In this implementation, taking the user's operation as the trigger point, when the user enables the composition function, the vehicle quickly responds. To achieve the purpose of composition, acquire second scene data and second positioning data around the vehicle.

[0074] Step 22: Construct second composition data according to the second scene data and the second positioning data;

[0075] The implementation of this step is similar to the implementation of constructing the first composition data above, and will not be elaborated here.

[0076] Step 23: When it is detected that the vehicle has left the parking area, upload the second composition data to the cloud so that the cloud constructs a cloud map of the parking area based on the second composition data.

[0077] In this step, to avoid frequent interaction between the cloud and the vehicle end, the second composition data can be interacted with the cloud after the vehicle has left the parking area.

[0078] First of all, the vehicle needs to accurately detect that the vehicle has left the parking area. This is usually achieved by means of the vehicle's own positioning system, such as GPS continuously tracking the vehicle's position information, combined with the pre-set electronic fence boundary data of the parking area to judge. When the vehicle's position exceeds the range of the parking area delimited by the electronic fence, it is determined that the vehicle has left the parking area.

[0079] Secondly, once it is detected that the vehicle has left, the vehicle will upload the second composition data that was previously acquired and constructed within the parking area to the cloud.

[0080] After that, in the cloud, after receiving the second composition data, it will start to construct a cloud map of the parking area based on these data. The cloud will use professional map construction strategies to integrate, analyze and process various types of information in the second composition data.

[0081] For example, according to the position information in the data, accurately map elements such as roads and parking spaces to the geographic coordinate system; depict the outlines and distributions of obstacles and buildings based on the object shape and distance data; refer to traffic signs and the position information of other vehicles and pedestrians to further improve the map details.

[0082] Correspondingly, if there is second composition data uploaded by multiple vehicles, the cloud will also fuse and verify this data to improve the accuracy and integrity of map construction, and finally construct a cloud map that can accurately reflect the actual situation of the parking area, providing reliable map navigation services for vehicles entering the parking area subsequently.

[0083] The composition method of the vehicle provided by the embodiment of the present invention includes: if the cloud map of the parking area is not obtained from the cloud, obtaining second scene data and second positioning data around the vehicle; constructing second composition data according to the second scene data and the second positioning data; when detecting that the vehicle drives out of the parking area, uploading the second composition data to the cloud so that the cloud constructs the cloud map of the parking area based on the second composition data. In this technical solution, when the cloud map of the parking area cannot be obtained from the cloud, the second composition data is constructed by obtaining the second scene data and the second positioning data around the vehicle, and this data is uploaded when the vehicle drives out of the parking area, which enables the cloud to construct a comprehensive and accurate cloud map of the parking area based on such data provided by multiple vehicles. On the one hand, it makes up for the problem of the lack of the initial map and provides an available map for subsequent vehicles entering the parking area. On the other hand, the map constructed by the convergence of multi-vehicle data is more in line with the actual scene, can accurately reflect the layout, road conditions, etc. of the parking area, helps to improve the navigation accuracy of vehicles in the parking area, improves the parking efficiency, and reduces the waste of time in searching for parking spaces and traffic congestion caused by the lack or inaccuracy of the map, greatly optimizing the intelligent management of the parking area and the user parking experience.

[0084] Based on the above embodiments, Figure 3 The flowchart of the third embodiment of the composition method of the vehicle provided by the present invention is shown. This method is executed by the vehicle. As Figure 3 shown, this method may further include the following steps:

[0085] Step 31, in response to the user enabling the valet parking function, determine the parking route according to the cloud map;

[0086] In this step, when the user enables the valet parking function in the vehicle control system or the associated mobile application, the entire valet parking process is immediately started. That is, after the vehicle receives this instruction, it quickly enters the route planning link.

[0087] In this implementation, the core data relied on is the cloud map, which includes the precise positions and dimensions of each parking space within the parking area, whether each parking space is parallel, perpendicular, or inclined, as well as their layout distribution within the parking area; it also encompasses data such as the direction, width, and slope of the driving lanes, which are crucial for planning a safe and reasonable driving route; meanwhile, the map records the positions of various static obstacles within the parking area, such as building walls and fixed isolation piers, as well as the areas where dynamic obstacles may appear, like the regular activity range of cleaning vehicles that are in operation, etc.

[0088] That is, the vehicle uses path planning to determine the parking route. Considering multiple factors, such as the distance from the vehicle's current position to the target parking space, it preferentially selects a shorter route to save time and energy consumption; takes into account the width and slope of the driving lanes, avoiding narrow and congested sections or areas with large slopes that are not conducive to vehicle driving; at the same time, the algorithm will analyze the dynamic information of other vehicles within the parking area in real time, predict potential traffic conflict points, and plan a safe route that can minimize the risk of collision with other vehicles and pedestrians as the parking route.

[0089] Step 32: Control the vehicle to perform a parking operation according to the parking route.

[0090] In this step, the vehicle's power system and steering system work closely together to control the vehicle to perform a parking operation.

[0091] For example, the power system can precisely adjust the vehicle's driving speed according to the speed parameters in the route planning. On a straight driving section, the power system maintains a stable vehicle speed to ensure the vehicle moves forward smoothly; the steering system can accurately adjust the steering angle of the wheels to ensure that the vehicle turns and changes lanes along the established route and smoothly drives towards the target parking space.

[0092] Optionally, a possible implementation of step 32 can be:

[0093] Step 1: If an obstacle appears around the vehicle and the distance of the obstacle is less than the preset safety distance, control the vehicle to suspend the parking operation and generate a first prompt message;

[0094] Among them, the first prompt message is used to indicate the position, type, and estimated waiting time of the obstacle;

[0095] In this implementation, during the vehicle's automatic parking operation according to the established parking route, various sensors on the vehicle continuously monitor the surrounding environment. Once ultrasonic sensors, millimeter-wave radars, or camera sensors, etc. detect an obstacle around the vehicle, and through data calculation, the distance between the obstacle and the vehicle is less than the pre-set safety distance, the vehicle responds quickly.

[0096] The vehicle sends an instruction to stop driving the vehicle forward by the power system, causing the vehicle to pause for parking operations to avoid collision accidents. At the same time, based on the detailed data feedback by the sensors, the vehicle accurately locates the position of the obstacle, and combines image recognition technology and radar data analysis to judge the type of the obstacle, such as a stationary roadblock, other parked vehicles, or moving pedestrians or vehicles in motion. Subsequently, the vehicle estimates the expected waiting time for the vehicle to wait for the obstacle to leave or the situation to be resolved based on factors such as the current traffic conditions, the moving speed of the obstacle (if it is a dynamic obstacle), and the complexity of the parking route, and integrates this information to generate the first prompt message.

[0097] This first prompt message will be presented to the user through the in-vehicle display screen, voice broadcast, etc., clearly indicating the position, type, and expected waiting time of the obstacle, so that the user can timely understand the situation where parking is blocked.

[0098] Step 2: When it is detected that the distance to the obstacle is not less than the safe distance, control the vehicle to continue with the parking operation.

[0099] In this implementation, during the process of the vehicle performing the automatic parking operation, when it is determined that the distance between the detected obstacle around the vehicle and the vehicle is not less than the pre-set safe distance, restore and maintain an appropriate driving power to prompt the vehicle to continue moving forward at a stable speed; the steering system operates synchronously, and according to the parking route plan, accurately adjusts the steering angle of the wheels to guide the vehicle to smoothly drive along the established trajectory towards the target parking space.

[0100] That is to say, the vehicle can continue with the parking operation without interference on the premise of ensuring safety until the parking task is successfully completed.

[0101] The vehicle composition method provided by the embodiment of the present invention determines the parking route according to the cloud map in response to the user enabling the valet parking function; and controls the vehicle to perform the parking operation according to the parking route. In this technical solution, when the user enables the valet parking function, the parking route is determined based on the accurate cloud map, which fully considers information such as the layout of the parking area, the distribution of parking spaces, and the current traffic conditions. Subsequently, the vehicle is controlled to perform the parking operation according to this route. First, it greatly improves the convenience of the user. The user does not need to personally control the vehicle to find a parking space and park, saving time and energy. Second, it improves the parking efficiency. The accurate route planning enables the vehicle to quickly reach the appropriate parking space, reducing the driving time in the parking area and alleviating the traffic pressure in the parking area. Third, it enhances the parking safety. The system accurately controls the vehicle's driving according to the map information, reducing the collision risk and ensuring the safety of the vehicle and the surrounding personnel and facilities, bringing a more intelligent, efficient, and safe parking experience to the user, and promoting the development of parking services towards the direction of intelligence and unmanned operation.

[0102] Based on the above embodiments,Figure 4 The flowchart of the fourth embodiment of the vehicle composition method provided by the present invention is shown. As Figure 4 shown, the execution of the following three modules provides a feasible implementation: passive map building and use of map building data at the vehicle end, and data processing in the cloud; combining the three modules involved, the method may include the following implementation:

[0103] Regarding passive map building at the vehicle end:

[0104] Step 401: The vehicle drives into the range of the parking lot electronic fence;

[0105] Step 402: The parking lot within the electronic fence is matched with the cloud map;

[0106] Among them, after the matching, it is determined whether there is a cloud map within the range of the electronic fence. If there is, when it is determined that the vehicle's location exceeds the boundary of the corresponding area of the cloud map or the vehicle is in the corresponding area of the cloud map but lacks the key frames of the cloud map, step 403 is executed; if not, step 403 can be directly executed for subsequent map building;

[0107] Step 403: Determine whether the user enables automatic composition; if not, execute step 404; if so, execute step 405;

[0108] Step 404: HIMI prompt & user selection: The parking lot can build its own map, and execute step 406;

[0109] Step 405: Enable the passive automatic composition function;

[0110] Step 406: The vehicle end builds a map in real time based on sensor data, and the map building data is stored at the vehicle end;

[0111] Step 407: Check every 5 meters whether the absolute positioning is within the parking lot range; if so, execute step 408; if not, continue map building;

[0112] Step 408: The vehicle end finishes automatic map building;

[0113] Regarding the use of map building data at the vehicle end

[0114] Step 409: Obtain the map building data uploaded by the vehicle end;

[0115] Step 410: Automatic matching and processing in the cloud;

[0116] Step 411: Automatically splice the existing cloud data;

[0117] Step 412: Publish the cloud data;

[0118] Step 413: The cloud map expansion processing ends;

[0119] Usage of mapping data for vehicle end:

[0120] Step 414: The vehicle travels to the electronic fence of the map parking lot;

[0121] Step 415: Obtain the existing mapping data sent from the cloud;

[0122] Step 416: The vehicle end prompts the user that the valet parking function can be enabled in this map;

[0123] Step 417: The valet parking function performs path planning according to the cloud mapping data.

[0124] The mapping method of the vehicle provided by the embodiment of the present invention has the same implementation principle and technical effects as the above embodiment, which will not be elaborated here.

[0125] Figure 5 The structural schematic diagram of the embodiment of the mapping device of the vehicle provided by the present invention is shown. As Figure 5 shown, the device includes:

[0126] The first acquisition module 51 is used to acquire the cloud map of the parking area from the cloud when it is detected that the vehicle travels within the range of the electronic fence of the parking area;

[0127] The second acquisition module 52 is used to acquire the first scene data and the first positioning data around the vehicle when it is detected that the position of the vehicle exceeds the first boundary of the corresponding area of the cloud map or the vehicle is in the corresponding area of the cloud map but lacks the key frames of the cloud map;

[0128] The construction module 53 is used to construct the first mapping data according to the first scene data and the first positioning data around the vehicle, and upload the first mapping data to the cloud, so that the cloud updates the cloud map based on the first mapping data.

[0129] In one or more embodiments, the construction module 53 constructs the first mapping data according to the first scene data and the first positioning data around the vehicle, and specifically is used for:

[0130] When it is detected that the vehicle is in the running state, acquire the running distance of the vehicle;

[0131] When the running distance is greater than the preset distance, construct the first mapping data according to the first scene data and the first positioning data around the vehicle.

[0132] In one or more embodiments, the construction module 53 is further used for:

[0133] If the cloud map of the parking area is not obtained from the cloud, acquire the second scene data and the second positioning data around the vehicle;

[0134] Construct the second composition data according to the second scenario data and the second positioning data;

[0135] When it is detected that the vehicle has left the parking area, upload the second composition data to the cloud so that the cloud can construct the cloud map of the parking area based on the second composition data.

[0136] In one or more embodiments, the second acquisition module 52 acquires the second scenario data and the second positioning data around the vehicle, specifically for:

[0137] In response to the user enabling the composition function, acquire the second scenario data and the second positioning data around the vehicle.

[0138] In one or more embodiments, the processing module is used for:

[0139] In response to the user enabling the valet parking function, determine the parking route according to the cloud map;

[0140] Control the vehicle to perform the parking operation according to the parking route.

[0141] In one or more embodiments, the processing module controls the vehicle to perform the parking operation according to the parking route, specifically for:

[0142] If an obstacle appears around the vehicle and the distance of the obstacle is less than the preset safety distance, control the vehicle to pause the parking operation and generate a first prompt message, where the first prompt message is used to indicate the position, type and expected waiting time of the obstacle;

[0143] When it is detected that the distance of the obstacle is not less than the safety distance, control the vehicle to continue the parking operation.

[0144] In one or more embodiments, the first acquisition module 51 acquires the cloud map of the parking area from the cloud, specifically for:

[0145] Acquire the first version number of the cloud map of the parking area from the cloud;

[0146] If the first version number is inconsistent with the second version number of the cloud map stored locally, acquire the cloud map of the parking area from the cloud and replace the cloud map stored locally.

[0147] It should be noted that the division of each module of the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element. They can also all be implemented in the form of hardware. It is also possible that some modules are implemented in the form of software called by a processing element, and some modules are implemented in the form of hardware. In addition, all or part of these modules can be integrated together or independently implemented. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the processor element or the instructions in the form of software.

[0148] As can be seen from the above, the composition device of the vehicle provided by the embodiment of the present invention can, when the vehicle position exceeds the map boundary or lacks key frames, construct composition data by acquiring the surrounding scene and positioning data and upload it, so as to update the cloud map in real time, which makes the cloud map always maintain the latest state, greatly improving the accuracy and integrity of the map data, providing more accurate and reliable parking area navigation information for subsequent vehicles, and optimizing the parking guidance service.

[0149] Figure 6 The structural schematic diagram of the embodiment of the vehicle provided by the present invention is shown, as Figure 6 shown, the vehicle may include: a processor 62, a communications interface 64, a memory 66, and a communication bus 68.

[0150] Among them: the processor 62, the communications interface 64, and the memory 66 communicate with each other through the communication bus 68. The communications interface 64 is used to communicate with network elements of other devices such as clients or other servers. The processor 62 is used to execute the program 60, and specifically can execute the relevant steps in the above-mentioned method embodiment for vehicle composition.

[0151] Specifically, the program 60 may include program code, and the program code includes computer-executable instructions.

[0152] The processor 62 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. One or more processors included in the vehicle may be of the same type of processor, such as one or more CPUs. They may also be different types of processors, such as one or more CPUs and one or more ASICs.

[0153] A memory 66 for storing a program 60. The memory 66 may include a high-speed RAM memory and may also include a non-volatile memory, such as at least one disk memory.

[0154] The program 60 can be specifically called by the processor 62 to cause the vehicle to perform the following operations:

[0155] When it is detected that the vehicle has traveled within the electronic fence range of the parking area, obtain the cloud map of the parking area from the cloud;

[0156] When it is detected that the position of the vehicle exceeds the first boundary of the area corresponding to the cloud map, or the vehicle is in the area corresponding to the cloud map but lacks the key frames of the cloud map, obtain the first scene data and the first positioning data around the vehicle;

[0157] According to the first scene data and the first positioning data around the vehicle, construct the first composition data and upload the first composition data to the cloud so that the cloud updates the cloud map based on the first composition data.

[0158] In one or more embodiments, the constructing the first composition data according to the first scene data and the first positioning data around the vehicle includes:

[0159] When it is detected that the vehicle is in a running state, obtain the running distance of the vehicle;

[0160] When the running distance is greater than a preset distance, construct the first composition data according to the first scene data and the first positioning data around the vehicle.

[0161] In one or more embodiments, the following is also performed:

[0162] If the cloud map of the parking area is not obtained from the cloud, obtain the second scene data and the second positioning data around the vehicle;

[0163] Construct the second composition data according to the second scene data and the second positioning data;

[0164] When it is detected that the vehicle has left the parking area, upload the second composition data to the cloud so that the cloud constructs the cloud map of the parking area based on the second composition data.

[0165] In one or more embodiments, the obtaining the second scene data and the second positioning data around the vehicle includes:

[0166] In response to the user enabling the composition function, obtain the second scene data and the second positioning data around the vehicle.

[0167] In one or more embodiments, the following is also performed:

[0168] In response to the user enabling the valet parking function, determine a parking route according to the cloud map;

[0169] Control the vehicle to perform a parking operation according to the parking route.

[0170] In one or more embodiments, the controlling the vehicle to perform a parking operation according to the parking route includes:

[0171] If an obstacle appears around the vehicle and the distance to the obstacle is less than a preset safety distance, control the vehicle to pause the parking operation and generate a first prompt message for indicating the position, type, and estimated waiting time of the obstacle;

[0172] When it is detected that the distance to the obstacle is not less than the safety distance, control the vehicle to continue the parking operation.

[0173] In one or more embodiments, the obtaining the cloud map of the parking area from the cloud includes:

[0174] Obtain a first version number of the cloud map of the parking area from the cloud;

[0175] If the first version number is inconsistent with a second version number of the cloud map stored locally, obtain the cloud map of the parking area from the cloud and replace the locally stored cloud map.

[0176] As can be seen from the above, the vehicle provided by the embodiments of the present invention can, when the vehicle position exceeds the map boundary or lacks key frames, construct composition data by acquiring surrounding scenes and positioning data and upload it, so as to update the cloud map in real time, which keeps the cloud map always up-to-date, greatly improves the accuracy and integrity of the map data, provides more accurate and reliable parking area navigation information for subsequent vehicles, and optimizes the parking guidance service.

[0177] Embodiments of the present invention provide a computer-readable storage medium storing at least one executable instruction, which, when running on a composition device / vehicle of the vehicle, causes the composition device / vehicle of the vehicle to execute the vehicle composition method in any of the above method embodiments.

[0178] The executable instruction can specifically be used to cause the composition device / vehicle of the vehicle to perform the following operations:

[0179] When it is detected that the vehicle travels within the electronic fence range of the parking area, obtain the cloud map of the parking area from the cloud;

[0180] When it is detected that the location of the vehicle exceeds the first boundary of the corresponding area of the cloud map, or when the vehicle is in the corresponding area of the cloud map but lacks the key frames of the cloud map, obtain the first scene data and the first positioning data around the vehicle;

[0181] According to the first scene data and the first positioning data around the vehicle, construct the first composition data, and upload the first composition data to the cloud, so that the cloud updates the cloud map based on the first composition data.

[0182] In one or more embodiments, the constructing the first composition data according to the first scene data and the first positioning data around the vehicle includes:

[0183] When it is detected that the vehicle is in a running state, obtain the running distance of the vehicle;

[0184] When the running distance is greater than a preset distance, construct the first composition data according to the first scene data around the vehicle and the first positioning data.

[0185] In one or more embodiments, the following is also executed:

[0186] If the cloud map of the parking area is not obtained from the cloud, obtain the second scene data and the second positioning data around the vehicle;

[0187] Construct the second composition data according to the second scene data and the second positioning data;

[0188] When it is detected that the vehicle drives out of the parking area, upload the second composition data to the cloud, so that the cloud constructs the cloud map of the parking area based on the second composition data.

[0189] In one or more embodiments, the obtaining the second scene data and the second positioning data around the vehicle includes:

[0190] In response to the user enabling the composition function, obtain the second scene data and the second positioning data around the vehicle.

[0191] In one or more embodiments, the following is also executed:

[0192] In response to the user enabling the valet parking function, determine the parking route according to the cloud map;

[0193] Control the vehicle to perform a parking operation according to the parking route.

[0194] In one or more embodiments, the controlling the vehicle to perform a parking operation according to the parking route includes:

[0195] If an obstacle appears around the vehicle and the distance to the obstacle is less than a preset safety distance, control the vehicle to pause the parking operation and generate a first prompt message, where the first prompt message is used to indicate the position, type, and estimated waiting time of the obstacle;

[0196] When it is detected that the distance to the obstacle is not less than the safety distance, control the vehicle to continue the parking operation.

[0197] In one or more embodiments, obtaining the cloud map of the parking area from the cloud includes:

[0198] Obtaining the first version number of the cloud map of the parking area from the cloud;

[0199] If the first version number is inconsistent with the second version number of the cloud map stored locally, obtain the cloud map of the parking area from the cloud and replace the cloud map stored locally.

[0200] As can be seen from the above, the vehicle / vehicle composition device provided by the embodiments of the present invention can, when the vehicle position exceeds the map boundary or lacks key frames, construct composition data by obtaining the surrounding scene and positioning data and upload it, so as to update the cloud map in real time, which keeps the cloud map always up-to-date, greatly improves the accuracy and integrity of the map data, provides more accurate and reliable parking area navigation information for subsequent vehicles, and optimizes the parking guidance service.

[0201] The embodiments of the present invention provide a computer program product, including a computer program, which when executed by a processor implements the operations of the above-mentioned vehicle composition method.

[0202] Its implementation principle and technical effects are as disclosed above.

[0203] The descriptions of the above embodiments tend to emphasize the differences between the embodiments. Their similarities or similarities can be referred to each other. For the sake of brevity, they will not be elaborated herein.

[0204] The methods disclosed in the method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0205] The features disclosed in the product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0206] The features disclosed in the method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0207] It should be noted that the above computer-readable storage medium may be a ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc. It may also be various vehicles including one or any combination of the above memories.

[0208] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are 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 more limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0209] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0210] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus necessary general hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a device (which may be a mobile phone, a computer, a server, an air conditioner, a vehicle-mounted terminal or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0211] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, devices, and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing device create means for implementing the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0212] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0213] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks. The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Additionally, embodiments of the present invention are not directed to any particular programming language.

[0214] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A composition method for a vehicle, characterized in that, The method includes: When it is detected that the vehicle has traveled within the electronic fence range of the parking area, obtaining the cloud map of the parking area from the cloud; When it is detected that the position of the vehicle exceeds the first boundary of the corresponding area of the cloud map, or the vehicle is in the corresponding area of the cloud map but lacks the key frames of the cloud map, obtaining the first scene data and the first positioning data around the vehicle; According to the first scene data and the first positioning data around the vehicle, constructing first composition data and uploading the first composition data to the cloud, so that the cloud updates the cloud map based on the first composition data.

2. The method according to claim 1, wherein The constructing the first composition data according to the first scene data and the first positioning data around the vehicle includes: When it is detected that the vehicle is in an operating state, obtaining the operating distance of the vehicle; When the operating distance is greater than a preset distance, constructing the first composition data according to the first scene data and the first positioning data around the vehicle.

3. The method according to claim 1, characterized in that, The method further includes: If the cloud map of the parking area cannot be obtained from the cloud, obtaining the second scene data and the second positioning data around the vehicle; Constructing second composition data according to the second scene data and the second positioning data; When it is detected that the vehicle has left the parking area, uploading the second composition data to the cloud, so that the cloud constructs the cloud map of the parking area based on the second composition data.

4. The method according to claim 3, wherein The obtaining the second scene data and the second positioning data around the vehicle includes: In response to the user enabling the composition function, obtaining the second scene data and the second positioning data around the vehicle.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: In response to the user enabling the valet parking function, determining a parking route according to the cloud map; Controlling the vehicle to perform a parking operation according to the parking route.

6. The method according to claim 5, characterized in that, The controlling the vehicle to perform a parking operation according to the parking route includes: If it is detected that there is an obstacle around the vehicle and the distance of the obstacle is less than a preset safety distance, controlling the vehicle to pause the parking operation and generating a first prompt message, where the first prompt message is used to indicate the position, type and estimated waiting time of the obstacle; When it is detected that the distance of the obstacle is not less than the safety distance, controlling the vehicle to continue the parking operation.

7. The method according to any one of claims 1-4, characterized in that, The obtaining the cloud map of the parking area from the cloud includes: Obtaining the first version number of the cloud map of the parking area from the cloud; If the first version number is inconsistent with the second version number of the cloud map stored locally, obtaining the cloud map of the parking area from the cloud and replacing the cloud map stored locally.

8. A composition device for a vehicle, characterized in that, The device includes: A first obtaining module, configured to obtain the cloud map of the parking area from the cloud when it is detected that the vehicle has traveled within the electronic fence range of the parking area; A second acquisition module, configured to acquire first scene data and first positioning data around the vehicle when it is detected that the location of the vehicle exceeds the first boundary of the corresponding area of the cloud map, or when the vehicle is in the corresponding area of the cloud map but lacks key frames of the cloud map; A construction module, configured to construct first composition data according to the first scene data and the first positioning data around the vehicle, and upload the first composition data to the cloud, so that the cloud updates the cloud map based on the first composition data.

9. A vehicle, characterized in that, Comprising: A processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the operations of the vehicle composition method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, At least one executable instruction is stored in the storage medium, and when the executable instruction runs on the vehicle composition device / vehicle, it causes the vehicle composition device / vehicle to execute the operations of the vehicle composition method according to any one of claims 1-7.

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