Automatic parking method, computer program product, device and readable storage medium

Abstract

The invention relates to an automatic parking method, a computer program product, equipment and a readable storage medium, and the method comprises the steps: responding to the starting of an automatic parking function, and determining a target parking space which is a horizontal parking space; if the target parking space is located on the opposite lane of the vehicle and a lane separation line between the vehicle and the target parking space is a dotted line, determining a front wheel, closer to the target parking space, of the vehicle as a fixed wheel; the target position of the fixed wheel is determined, the target position is located in the target parking space, and the target position is close to a first long side edge, closer to the vehicle, in the target parking space; and the vehicle is controlled to coincide the fixed wheel with the target position and park in the target parking space with the fixed wheel as the center. The front wheel closer to the target parking space on the opposite lane is selected as the fixed wheel, the first long side edge closer to the vehicle is determined as the target position of the fixed wheel, the vehicle is controlled to cross the lane separation line to be parked into the target parking space, and the parking efficiency and the intelligent degree are improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to an automatic parking method, a computer program product, a device, and a readable storage medium. Background Art

[0002] For parking spaces located on both sides of the road, the system can usually only detect spaces on the same side as the vehicle. In a scenario where parking spaces are tight, if there is only a parking space in the lane opposite the vehicle, the user must manually turn around to the opposite lane to detect the parking space. This low level of intelligence in the automatic parking function leads to a poor user experience.

[0003] Furthermore, current automated parking systems require the rear of the vehicle to enter the parking space first, and then the vehicle adjusts its position to park the entire vehicle. In tight parking spaces, a vehicle passing through a parking space may be preempted by another. Furthermore, if a vehicle behind is close behind, the space behind the vehicle may be occupied, preventing the vehicle from reversing into the space, thus reducing the success rate of automated parking. Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides an automatic parking method, a computer program product, a device and a readable storage medium.

[0005] In a first aspect, the present application provides an automatic parking method, comprising:

[0006] In response to the activation of the automatic parking function, determining a target parking space, wherein the target parking space is a horizontal parking space;

[0007] Determining the fixed wheel according to the relative position relationship between the target parking space and the vehicle and the lane dividing line;

[0008] determining a target position of the fixed wheel based on boundary information of the target parking space and body information of the vehicle, wherein the target position is located within the target parking space and close to a first long side of the target parking space that is closer to the vehicle;

[0009] Controlling the vehicle to travel so that the fixed wheel coincides with the target position;

[0010] Controlling the vehicle to rotate around the fixed wheel into the target parking space;

[0011] The step of determining the fixed wheel according to the relative position relationship between the target parking space and the vehicle and the lane dividing line includes:

[0012] If the target parking space is in an opposite lane of the vehicle, and the lane dividing line between the vehicle and the target parking space is a dotted line, the front wheel of the vehicle closer to the target parking space is determined as a fixed wheel.

[0013] In one embodiment, determining the fixed wheel according to the relative position relationship between the target parking space and the vehicle and the lane dividing line further includes:

[0014] If the target parking space is in a lane in the same direction as the vehicle, and there is no lane divider between the vehicle and the target parking space or the lane divider is a dotted line, the front wheel of the vehicle farther from the target parking space is determined as the fixed wheel.

[0015] In one embodiment, determining the target position of the fixed wheel according to the boundary information of the target parking space and the body information of the vehicle includes:

[0016] determining a first distance between the target position and a second long side of the target parking space based on a distance from a contact point of the fixed wheel to a front end of the vehicle on an opposite side of the fixed wheel and a first preset safety distance, the second long side being farther from the vehicle than the first long side;

[0017] determining a second distance between the target position and a forward boundary of the target parking space based on a front overhang length of the vehicle and a second preset safety distance;

[0018] The target position is determined according to the position information of the second long side and the front boundary, the first distance, and the second distance.

[0019] In one embodiment, controlling the vehicle to travel so that the fixed wheel coincides with the target position includes:

[0020] generating a plurality of control schemes according to the current position of the fixed wheel and the target position;

[0021] Selecting the control scheme with the least number of gear shifts as the target scheme from the control schemes;

[0022] The vehicle is controlled to travel using the target solution so as to bring the fixed wheel into alignment with the target position.

[0023] In one embodiment, controlling the vehicle to rotate about the fixed wheel into the target parking space includes:

[0024] determining a target angle according to a current body posture of the vehicle and a target body posture of the vehicle in the target parking space;

[0025] The vehicle is controlled to rotate by the target angle around the fixed wheel to park in the target parking space.

[0026] In one embodiment, controlling the vehicle to rotate by the target angle around the fixed wheel includes:

[0027] acquiring, based on the position information of the rear boundary of the target parking space, a third distance between the rear end of the vehicle on the opposite side of the fixed wheel and the rear boundary of the target parking space;

[0028] If the third distance is greater than a third preset safety distance, the vehicle is controlled to rotate about the fixed wheel by the target angle.

[0029] In one embodiment, in response to activation of the automatic parking function, determining a target parking space includes:

[0030] In response to the automatic parking function being activated, detecting available parking spaces on both sides of a road on which the vehicle is traveling;

[0031] Calculating the driving distance between the vehicle and the available parking space respectively;

[0032] The target parking space is determined according to the driving distance.

[0033] In one embodiment, detecting available parking spaces on both sides of the road on which the vehicle is traveling includes:

[0034] detecting vacant parking spaces on both sides of a road on which the vehicle is traveling;

[0035] detecting whether there is a lane divider between the vehicle and the vacant parking space;

[0036] If so, the vacant parking space with a dashed lane divider is used as the available parking space;

[0037] If not, the vacant parking space is used as the available parking space.

[0038] In a second aspect, the present application provides a computer program product, comprising a computer program / instruction, which implements the steps of the method described in the first aspect when executed by a processor.

[0039] In a third aspect, the present application provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect when executing the computer program.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps of the method described in the first aspect when the computer program / instruction is executed by a processor.

[0041] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present application.

[0042] The aforementioned automatic parking method, computer program product, device, and readable storage medium can achieve beneficial effects, including: including parking spaces on the opposite road from the vehicle in the selection range of the target parking space, expanding the scope of available parking spaces, and shortening search time. When the target parking space is determined to be in the opposite lane of the vehicle, and the lane divider between the vehicle and the target parking space is a dotted line, the front wheels closest to the target parking space are determined to be fixed wheels and the target position of the fixed wheels. The vehicle is controlled to cross the lane divider and enter the target parking space. The ground contact point of the fixed wheels is first aligned with the target position, and then the vehicle is controlled to rotate around the fixed wheels to achieve automatic parking, thereby shortening parking time and improving parking efficiency. Furthermore, the vehicle's front direction after parking is consistent with the forward direction of the lane in which the target parking space is located, making it easier for the user to use the vehicle later, improving the intelligence of the automatic parking function, and thus enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flowchart of an automatic parking method according to an embodiment of the present application;

[0044] Figure 2 This is a first schematic diagram of a vehicle and a target parking space in one embodiment of the present application;

[0045] Figure 3 This is a second schematic diagram of a vehicle and a target parking space in one embodiment of the present application;

[0046] Figure 4 This is a third schematic diagram of a target parking space for a vehicle in one embodiment of the present application;

[0047] Figure 5 This is a fourth schematic diagram of a target parking space for a vehicle in one embodiment of the present application;

[0048] Figure 6 This is a module diagram of an automatic parking system in one embodiment of the present application;

[0049] Figure 7 This is a first internal structure diagram of a computer device in one embodiment of the present application;

[0050] Figure 8 This is a second internal structure diagram of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0052] It should be noted that the diagrams provided in this embodiment are only schematic illustrations of the basic concept of the present application. The diagrams only show the components related to the present application and are not drawn according to the number, shape, and size of the components in actual implementation. The form, quantity, and proportion of each component in actual implementation can be changed at will, and the component layout form may also be more complex. The structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the limiting conditions for the implementation of this application and therefore have no technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose of the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this application. Changes or adjustments in their relative relationships should also be considered as the scope of the implementation of this application without substantially changing the technical content.

[0053] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places herein does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0054] As used herein, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular and may include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0055] The definition of "include" herein, such as the terms "having", "may have", "include" or "may include" used herein, indicates the existence of the corresponding functions, operations, elements, etc. herein, and does not limit the existence of one or more other functions, operations, elements, etc. In addition, it should be understood that the terms "include" or "have" used herein refer to the existence of the features, numbers, steps, operations, elements, components or their combination described in the specification, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, elements, components or their combination.

[0056] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0057] In one embodiment, the automatic parking method provided by the present application is as follows: Figure 1 As shown, it includes steps S101 to S105:

[0058] S101: In response to activation of an automatic parking function, determine a target parking space.

[0059] Wherein, the target parking space is a horizontal parking space. It is understandable that vehicles usually travel along the road direction, and the long side of the parking space set beside the road is parallel to the direction of the road, and the parking space is a horizontal parking space.

[0060] For example, a hardware or software button is provided on the vehicle, and the user activates the automatic parking function by pressing the button when parking is required. In response to the activation of the automatic parking function, various sensors installed in the vehicle detect available parking spaces on both sides of the road where the vehicle is traveling and display them on the vehicle screen.

[0061] Users can select a target parking space based on their habits or preferences, or the algorithm can automatically select the target parking space.

[0062] In one embodiment, step S101 includes:

[0063] S1011. In response to the automatic parking function being activated, detecting available parking spaces on both sides of the road on which the vehicle is traveling;

[0064] S1012. Calculate the driving distance between each vehicle and an available parking space;

[0065] S1013. Determine a target parking space based on the driving distance.

[0066] For example, the driving distance from the vehicle to each available parking space is calculated separately, and the available parking space with the shortest distance is automatically selected as the target parking space, thereby shortening the time it takes for the vehicle to reach the target parking space and improving parking efficiency.

[0067] If there are at least two available parking spaces with the shortest distance, the one in the same lane as the vehicle will be automatically selected as the target parking space to avoid crossing lanes, reduce the risk during automatic parking, and thus improve the safety of automatic parking.

[0068] Among them, an automatic path planning algorithm can be used to plan a driving route that meets traffic regulations for the vehicle to each available parking space, and determine the driving distance based on the driving route.

[0069] In this embodiment, by increasing the detection of available parking spaces in lanes opposite to the vehicle, the shrinking range of available parking spaces is expanded, thereby shortening the search time for available parking spaces.

[0070] In another embodiment, detecting available parking spaces on both sides of a road on which a vehicle is traveling includes:

[0071] Detecting vacant parking spaces on both sides of the road where the vehicle is traveling;

[0072] Detecting the presence of lane dividers between the vehicle and an available parking space;

[0073] If so, the vacant parking space with a dashed lane divider is considered an available parking space;

[0074] If not, the vacant parking spaces will be considered as available parking spaces.

[0075] The lane divider can be either a same-direction lane divider or an opposite-direction lane divider. A lane divider exists if at least one of the same-direction lane divider and the opposite-direction lane divider exists between the vehicle and the available parking space.

[0076] In this embodiment, if there is a lane divider between the vehicle and an available parking space, only the lane divider with a dashed line is considered as an available parking space, which can reduce the calculation required for subsequent determination of the target parking space.

[0077] S102: Determine the fixed wheels according to the relative position relationship between the target parking space and the vehicle and the lane dividing line.

[0078] Among them, the lane separator can be a lane separator in the same direction or a lane separator in the opposite direction.

[0079] In one embodiment, step S102 includes:

[0080] If the target parking space is in the opposite lane of the vehicle and the lane dividing line between the vehicle and the target parking space is a dotted line, the front wheel of the vehicle closer to the target parking space is determined as a fixed wheel.

[0081] For example, see Figure 2 , the vehicle 200 is traveling on the initial lane 201, and the forward direction of the initial lane 201 is Figure 2 The middle is the right side, the target parking space 203 is in the opposite lane 202 of the vehicle 200, and the positive driving direction of the opposite lane 202 is Figure 2 The middle is the left.

[0082] Since the target parking space 203 is in the opposite lane 202 of the vehicle 200, the current automatic parking technology requires a U-turn to park in the target parking space. In the case of insufficient space, the U-turn is difficult and the vehicle may be occupied by other people during the U-turn.

[0083] By adopting the automatic parking solution provided by the present application, after the vehicle 200 turns on the automatic parking function, since the target parking space 203 is in the opposite lane 202 of the vehicle 200, there is an opposite lane dividing line between the vehicle 200 and the target parking space 203, which is a dotted line. Therefore, the front wheel closer to the target parking space 203 can be determined - the left front wheel is the fixed wheel. After determining the target position of the fixed wheel, the vehicle can be controlled to cross the lane dividing line so that the grounding point of the fixed wheel coincides with the target position, and automatic parking is achieved by rotating around the fixed wheel, which can greatly shorten the parking time and improve the parking efficiency and success rate.

[0084] In another embodiment, step S102 further includes:

[0085] If the target parking space is in the same lane as the vehicle, and there is no lane divider between the vehicle and the target parking space or the lane divider is a dotted line, the front wheel of the vehicle farther from the target parking space is determined as a fixed wheel.

[0086] For example, see Figure 3 , the vehicle 300 is traveling on the initial road 301, and the forward direction of the initial road 301 is Figure 3 After vehicle 300 activates the automatic parking function, since target parking space 302 is located in lane 301 in the same direction as vehicle 300 and there is no lane divider between the vehicle and target parking space 302, it can be determined that the front wheel farther from target parking space 203—the left front wheel—is the fixed wheel.

[0087] It is understandable that if Figure 4 As shown, the vehicle 400 is traveling on the initial road 401, and the forward direction of the initial road 401 is Figure 4 After vehicle 400 activates the automatic parking function, since target parking space 402 is located in lane 401 in the same direction as vehicle 400 and there is no lane divider between the vehicle and target parking space 402, it can be determined that the front wheel farther from the target parking space, the right front wheel, is the fixed wheel.

[0088] S103: Determine a target position of the fixed wheel according to the boundary information of the target parking space and the body information of the vehicle.

[0089] It is understood that the target parking space typically consists of two long sides: a front boundary and a rear boundary. The long side of the target parking space that is closer to the lane where the vehicle is located can be defined as the first long side, and the other long side as the second long side. That is, the target parking space includes a first long side and a second long side, with the first long side being closer to the vehicle than the second long side, and the second long side being farther away from the vehicle than the first long side.

[0090] In one embodiment, the target position is located in the target parking space, and the target position is close to a first long side of the target parking space that is closer to the vehicle.

[0091] In this embodiment, the target position is designed to be close to the first long side of the target parking space. After the vehicle's fixed wheels coincide with the target position point A and are rotated to park in the target parking space, the vehicle's front direction is consistent with the forward driving direction of the lane where the target parking space is located, making it convenient for users to drive directly into the lane when using the vehicle later.

[0092] In one embodiment, the boundary information of the target parking space includes at least position information of the second longest side and the front boundary of the target parking space.

[0093] Accordingly, step S103 includes:

[0094] S1031. Determine a first distance between the target position and the second longest side of the target parking space based on a distance from the contact point of the fixed wheel to the front end of the vehicle on the opposite side of the fixed wheel and a first preset safety distance.

[0095] S1032: Determine a second distance between the target position and a forward boundary of the target parking space based on the front overhang length of the vehicle and the second preset safety distance;

[0096] S1033: Determine a target position according to the position information of the second long side and the forward boundary, the first distance, and the second distance.

[0097] It can be understood that since parking spaces on both sides of the road are usually distinguished by the forward driving direction of the lane in which they are located, the front boundary of the target parking space is located in the target direction of its rear boundary, and the target direction is the same as the forward driving direction of the lane in which the target parking space is located.

[0098] For example, in Figure 2 In the example, the target parking space 203 is located in the opposite lane 202 of the vehicle 200, and the positive direction of the opposite lane 202 is the left. Therefore, it can be determined that Figure 2 The front boundary of the target parking space 203 is on the left, and the rear boundary is on the right, that is, the front boundary of the target parking space 203 is located to the left of its rear boundary.

[0099] exist Figure 3, the target parking space 302 is in the same-direction lane 301 as the vehicle 300, and the forward driving direction of the same-direction lane 301 is also to the left. Similarly, the front boundary of the target parking space 302 is on the left and the rear boundary is on the right, that is, the front boundary of the target parking space 302 is to the left of its rear boundary.

[0100] For example, see Figure 5 The first preset safety distance is L10, the second preset safety distance is L11, and according to the vehicle body information, the distance from the grounding point of the fixed wheel to the corresponding front end of the vehicle is L20, and the front overhang length of the vehicle is L21.

[0101] The target parking space includes two long sides, a first long side close to the vehicle and a second long side far from the vehicle.

[0102] A first distance L0 between the target position point A and the second long side is L10+L20.

[0103] A second distance between the target position point A and the front boundary of the target parking space is L1 = L11 + L21.

[0104] The target position, such as specific coordinates, can be determined based on the first distance and the second distance in combination with the position information of the second longest side and the front boundary of the target parking space.

[0105] S104: Control the vehicle to travel so that the fixed wheel coincides with the target position.

[0106] In one embodiment, step S104 includes:

[0107] S1041. Generate several control schemes based on the current position and target position of the fixed wheel;

[0108] S1042. Selecting the control scheme with the least number of gear shifts as the target scheme from the control schemes;

[0109] S1043: Use the target solution to control the vehicle's movement so that the fixed wheel coincides with the target position.

[0110] For example, existing automatic path planning algorithms can be used to plan several driving paths based on the current and target positions of the fixed wheels, and corresponding gear control plans can be generated to form a vehicle control scheme. The number of gear shifts in the gear control plans is counted, and the one with the least number of gear shifts is selected as the target scheme to control vehicle travel.

[0111] S105: Control the vehicle to rotate around the fixed wheels to the target parking space.

[0112] In one embodiment, step S105 includes:

[0113] S1051: Determine a target angle based on the current posture of the vehicle and the target posture of the vehicle in the target parking space;

[0114] S1052: Control the vehicle to rotate by a target angle around the fixed wheel to park in the target parking space.

[0115] For example, see Figure 2 and Figure 3 , after the left front wheel of the vehicle coincides with its target position A, the lightest gray represents the current body posture of the vehicle, and black represents the target body posture after the vehicle is parked in the target parking space by rotating around the left front wheel.

[0116] The angle between the current body posture and the target body posture can be determined by selecting one side of the vehicle as a reference, such as the front end of the vehicle.

[0117] See also Figures 2 to 4 The angle α formed between the front end of the vehicle in the current body posture and the front end of the vehicle in the target body posture is the target angle.

[0118] In one embodiment, the boundary information further includes position information of a rear boundary of the target parking space.

[0119] Accordingly, step S1052 includes:

[0120] acquiring, based on the position information of the rear boundary of the target parking space, a third distance between the rear end of the vehicle on the opposite side of the fixed wheel and the rear boundary;

[0121] If the third distance is greater than the third preset safety distance, the vehicle is controlled to rotate a target angle around the fixed wheel.

[0122] For example, see Figure 5 The fixed wheel is the vehicle's left front wheel, and the rear end of the vehicle opposite the left front wheel is the right rear end. After the contact point of the vehicle's fixed wheel coincides with the target location A, it is necessary to first check whether the third distance between the right rear end of the vehicle and the rearward boundary of the target parking space is greater than the third preset safety distance L12. If so, the vehicle is controlled to rotate around the left front wheel.

[0123] Based on the automatic parking solution provided by this application, the detection of available parking spaces in the opposite lane of the vehicle is added.

[0124] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these sub-steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0125] To implement the above-mentioned automatic parking method, the present application also provides a computer program product, including a computer program / instruction, which implements the steps of the automatic parking method in the above-mentioned embodiment when the computer program / instruction is executed by a processor.

[0126] In one embodiment, the computer program product is implemented as an automatic parking system. Figure 6 As shown, the automatic parking system includes:

[0127] a parking space determination module 501 for determining a target parking space in response to activation of the automatic parking function, wherein the target parking space is a horizontal parking space;

[0128] a fixed wheel determination module 502 for determining the fixed wheels based on the relative positional relationship between the target parking space and the vehicle and the lane divider;

[0129] a target position determination module 503 for determining a target position of the fixed wheel based on boundary information of the target parking space and body information of the vehicle, wherein the target position is located within the target parking space and close to a first long side of the target parking space that is closer to the vehicle;

[0130] The control module 504 is used to control the vehicle to move so that the fixed wheel coincides with the target position, and to control the vehicle to rotate around the fixed wheel to the target parking space.

[0131] The fixed wheel determination module 502 is specifically configured to:

[0132] If the target parking space is in the opposite lane of the vehicle and the lane dividing line between the vehicle and the target parking space is a dotted line, the front wheel of the vehicle closer to the target parking space is determined as a fixed wheel.

[0133] The specific definition of the automated parking system can be found in the definition of the automated parking method above and will not be further elaborated here. Each module in the automated parking system described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0134] The present application also provides a computer device. In one embodiment, the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the automatic parking method in the above embodiment are implemented.

[0135] In one embodiment, the computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, memory, network interface and database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data for automatic parking. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the steps of the automatic parking method in the above embodiment are implemented.

[0136] In one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an automatic parking method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0137] Those skilled in the art will understand that Figure 7 and Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0138] The present application also provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the automatic parking method in the above embodiment are implemented.

[0139] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0140] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An automatic parking method, characterized in that: The automatic parking method includes: In response to the activation of the automatic parking function, determining a target parking space, wherein the target parking space is a horizontal parking space; Determining the fixed wheel according to the relative position relationship between the target parking space and the vehicle and the lane dividing line; determining a target position of the fixed wheel based on boundary information of the target parking space and body information of the vehicle, wherein the target position is within the target parking space and close to a first long side of the target parking space that is closer to the vehicle; Controlling the vehicle to travel so that the fixed wheel coincides with the target position; Controlling the vehicle to rotate around the fixed wheel into the target parking space; The step of determining the fixed wheel according to the relative position relationship between the target parking space and the vehicle and the lane dividing line includes: If the target parking space is in an opposite lane of the vehicle, and the lane dividing line between the vehicle and the target parking space is a dotted line, the front wheel of the vehicle closer to the target parking space is determined as a fixed wheel.

2. The automatic parking method according to claim 1, wherein: The step of determining the fixed wheel according to the relative position relationship between the target parking space and the vehicle and the lane dividing line further includes: If the target parking space is in a lane in the same direction as the vehicle, and there is no lane divider between the vehicle and the target parking space or the lane divider is a dotted line, the front wheel of the vehicle farther from the target parking space is determined as the fixed wheel.

3. The automatic parking method according to claim 1 or 2, characterized in that: The determining the target position of the fixed wheel according to the boundary information of the target parking space and the body information of the vehicle includes: determining a first distance between the target position and a second long side of the target parking space based on a distance from a contact point of the fixed wheel to a front end of the vehicle on an opposite side of the fixed wheel and a first preset safety distance, the second long side being farther from the vehicle than the first long side; determining a second distance between the target position and a forward boundary of the target parking space based on a front overhang length of the vehicle and a second preset safety distance; The target position is determined according to the position information of the second long side and the front boundary, the first distance, and the second distance.

4. The automatic parking method according to claim 1, wherein: The controlling the vehicle to travel so that the fixed wheel coincides with the target position includes: generating a plurality of control schemes according to the current position of the fixed wheel and the target position; Selecting the control scheme with the least number of gear shifts as the target scheme from the control schemes; The vehicle is controlled to travel using the target solution so as to bring the fixed wheel into alignment with the target position.

5. The automatic parking method according to claim 1, wherein: The controlling the vehicle to rotate about the fixed wheel into the target parking space includes: determining a target angle according to a current body posture of the vehicle and a target body posture of the vehicle in the target parking space; The vehicle is controlled to rotate about the fixed wheel to the target angle so as to park in the target parking space.

6. The automatic parking method according to claim 5, wherein: The controlling the vehicle to rotate by the target angle around the fixed wheel includes: acquiring, based on the position information of the rear boundary of the target parking space, a third distance between the rear end of the vehicle on the opposite side of the fixed wheel and the rear boundary; If the third distance is greater than a third preset safety distance, the vehicle is controlled to rotate about the fixed wheel by the target angle.

7. The automatic parking method according to claim 1, wherein: In response to the activation of the automatic parking function, determining a target parking space includes: In response to the automatic parking function being activated, detecting available parking spaces on both sides of a road on which the vehicle is traveling; Calculating the driving distance between the vehicle and the available parking space respectively; The target parking space is determined according to the driving distance.

8. The automatic parking method according to claim 7, wherein: The detecting of available parking spaces on both sides of the road on which the vehicle is traveling comprises: detecting vacant parking spaces on both sides of a road on which the vehicle is traveling; detecting whether there is a lane divider between the vehicle and the vacant parking space; If so, the vacant parking space with a dashed lane divider is used as the available parking space; If not, the vacant parking space is used as the available parking space.

9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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