Vehicle parking-out control method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle parking-out control method, device and equipment and a storage medium, and the method comprises the steps: detecting obstacles around a target vehicle, and determining the obstacle position information of each obstacle; determining a target parking-out direction according to the obstacle position information, and determining a target parking-out mode according to the target parking-out direction and the obstacle position information; wherein the target parking-out mode comprises direct turning parking-out, turning parking-out after straight movement or multi-step parking-out; and determining a target parking-out path according to the target parking-out direction and the target parking-out mode, and controlling the target vehicle to execute a vehicle parking-out action based on the target parking-out path. According to the technical scheme, the target parking-out direction and the target parking-out mode can be determined through analysis of the position information of the obstacle, then the corresponding parking-out path is automatically generated, the automation degree of vehicle parking can be improved, the vehicle parking-out path is enriched, and the safety of vehicle parking is reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of assisted driving technology, and in particular to a vehicle parking control method, device, equipment and storage medium. Background Technology

[0002] With the increasing number of cars on the road, parking environments are becoming increasingly complex. Currently, there are roughly two methods for automatic parking: one is the straight-out parking method, where the vehicle only moves forward or backward when given a straight-out or reverse parking command; the second is based on geometric methods for local path planning. The first method still requires driver intervention to complete the parking maneuver after parking, resulting in low efficiency; the second method, with its local path planning, is prone to vehicle collisions and frequent human intervention. Summary of the Invention

[0003] This invention provides a vehicle parking exit control method, apparatus, device, and storage medium, which can improve the automation level of vehicle parking, enrich vehicle parking exit methods, and reduce vehicle parking safety risks.

[0004] In a first aspect, embodiments of the present invention provide a vehicle parking exit control method, the method comprising:

[0005] The system detects obstacles around the target vehicle and determines the obstacle position information of each obstacle; it determines the target parking direction based on the obstacle position information, and determines the target parking method based on the target parking direction and the obstacle position information; wherein, the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; it determines the target parking path based on the target parking direction and the target parking method, and controls the target vehicle to perform a vehicle parking action based on the target parking path.

[0006] In a second aspect, embodiments of the present invention provide a vehicle parking exit control device, the device comprising:

[0007] An obstacle determination module is used to detect obstacles around the target vehicle and determine the obstacle position information of each obstacle; a parking analysis module is used to determine the target parking direction based on the obstacle position information, and to determine the target parking method based on the target parking direction and the obstacle position information; wherein, the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; a parking execution module is used to determine the target parking path based on the target parking direction and the target parking method, and to control the target vehicle to perform a vehicle parking action based on the target parking path.

[0008] Thirdly, embodiments of the present invention provide a computer device, the computer device comprising:

[0009] One or more processors;

[0010] Memory, used to store one or more programs;

[0011] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle parking control method described in any embodiment.

[0012] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle parking control method described in any embodiment.

[0013] The technical solution provided by this invention detects obstacles around a target vehicle and determines the obstacle position information of each obstacle; determines the target parking direction based on the obstacle position information; and determines the target parking method based on the target parking direction and the obstacle position information. The target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking. A target parking path is determined based on the target parking direction and the target parking method, and the target vehicle is controlled to perform a parking action based on the target parking path. This technical solution solves the problems of easy collisions and high human intervention rates in existing vehicle parking technologies. It can determine the target parking direction and the target parking method by analyzing the obstacle position information, and then automatically generate a corresponding parking path based on the target parking direction and the target parking method. This can improve the automation level of vehicle parking, enrich vehicle parking methods, and reduce vehicle parking safety. Attached Figure Description

[0014] Figure 1 This is a flowchart of a vehicle parking exit control method provided in an embodiment of the present invention;

[0015] Figure 2 This is a flowchart of another vehicle parking control method provided in an embodiment of the present invention;

[0016] Figure 3 This is a schematic diagram of an embodiment of the present invention for analyzing the berthing method based on a preset coordinate system;

[0017] Figure 4 This is a schematic diagram of a direct turning and parking path provided by an embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of a path for parking after turning after going straight, provided by an embodiment of the present invention;

[0019] Figure 6 This is a schematic diagram of a multi-step berthing path provided by an embodiment of the present invention;

[0020] Figure 7 This is a schematic diagram of the structure of a vehicle parking control device provided in an embodiment of the present invention;

[0021] Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Figure 1 This is a flowchart of a vehicle parking control method provided by an embodiment of the present invention. The embodiment of the present invention can be applied to scenarios where a target vehicle is controlled to automatically park. The method can be executed by a vehicle parking control device, which can be implemented by software and / or hardware.

[0024] like Figure 1 As shown, the vehicle parking control method includes the following steps:

[0025] S110. Detect obstacles around the target vehicle and determine the obstacle location information of each obstacle.

[0026] The target vehicle can be a vehicle that needs to perform a parking maneuver. The obstacle location information can be the location information of obstacles around the target vehicle. Specifically, the surrounding obstacles can be detected using detection devices on the target vehicle to determine the location information of each obstacle.

[0027] S120. Determine the target parking direction based on the obstacle location information, and determine the target parking method based on the target parking direction and the obstacle location information.

[0028] The target parking direction can be the direction in which the target vehicle will park. Specifically, the target parking direction can be the left-hand direction or the right-hand direction. Furthermore, the relative positions of the obstacle and the target vehicle can be determined based on the obstacle's position information, thereby determining the target parking direction of the target vehicle.

[0029] Furthermore, the target parking methods include: direct turning parking, straight-ahead turning parking, or multi-step parking. Direct turning parking can be understood as the target vehicle parking directly at a certain rotation angle. Straight-ahead turning parking can be understood as the target vehicle needing to travel a certain distance straight before parking directly at a certain rotation angle. Multi-step parking can be understood as the target vehicle needing to perform multiple steps based on various rotation angles to park. Specifically, the target vehicle's movable range can be determined based on the target parking direction and the obstacle's position information, and then the target parking method can be determined based on the movable range.

[0030] S130. Determine the target parking path based on the target parking direction and the target parking method, and control the target vehicle to perform a parking action based on the target parking path.

[0031] The target parking path can be the route taken by the target vehicle when performing the parking action. Specifically, multiple sub-paths can be determined by combining the target parking direction and target parking method, and then the routes of the multiple sub-paths can be combined to obtain the target parking path. Finally, the target parking path can be sent to the control module of the target vehicle, so that the control module can control the target vehicle to park along the target parking path.

[0032] The technical solution provided by this invention detects obstacles around a target vehicle and determines the obstacle position information of each obstacle; determines the target parking direction based on the obstacle position information; and determines the target parking method based on the target parking direction and the obstacle position information. The target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking. A target parking path is determined based on the target parking direction and the target parking method, and the target vehicle is controlled to perform a parking action based on the target parking path. This technical solution solves the problems of easy collisions and high human intervention rates in existing vehicle parking technologies. It can determine the target parking direction and the target parking method by analyzing the obstacle position information, and then automatically generate a corresponding parking path based on the target parking direction and the target parking method. This can improve the automation level of vehicle parking, enrich vehicle parking methods, and reduce vehicle parking safety.

[0033] Figure 2This is a flowchart of another vehicle parking control method provided by an embodiment of the present invention. This embodiment of the present invention can be applied to scenarios where a target vehicle is controlled to automatically park. Based on the above embodiments, this embodiment further explains how to determine the target parking direction based on the obstacle position information, how to determine the target parking method based on the target parking direction and the obstacle position information; and how to determine the target parking path based on the target parking direction and the target parking method, and control the target vehicle to perform a vehicle parking action based on the target parking path. This device can be implemented by software and / or hardware and integrated into a computer device with application development capabilities.

[0034] like Figure 2 As shown, the vehicle parking control method includes the following steps:

[0035] S210. Detect obstacles around the target vehicle and determine the obstacle location information of each obstacle.

[0036] The target vehicle can be a vehicle that needs to perform a parking maneuver. The obstacle location information can be the location information of obstacles around the target vehicle. Specifically, the surrounding obstacles can be detected using detection devices on the target vehicle to determine the location information of each obstacle.

[0037] S220. Determine the target parking direction based on the obstacle location information.

[0038] The target parking direction can be the direction in which the target vehicle will park. Specifically, the target parking direction can be the left-hand direction or the right-hand direction. Furthermore, the relative positions of the obstacle and the target vehicle can be determined based on the obstacle's position information, thereby determining the target parking direction of the target vehicle.

[0039] Specifically, the system can detect obstacles in the area surrounding the target vehicle using detection components. If there are no obstacles to the left of the target vehicle but obstacles to the right, or if the distance between obstacles on the left is greater than the distance between obstacles on the right, the target parking direction is determined to be to the left. If there are obstacles to the left of the target vehicle but no obstacles to the right, or if the distance between obstacles on the left is less than the distance between obstacles on the right, the target parking direction is determined to be to the right. The distance between obstacles can be the distance between the obstacle and the target vehicle. Furthermore, if there are no obstacles to the left or right of the target vehicle, a default direction can be used as the target parking direction.

[0040] S230. Establish a preset coordinate system and determine the reference longitudinal coordinate range of the obstacle coordinate points and the target vehicle in the preset coordinate system.

[0041] In this system, the origin of the preset coordinate system is the center of the rear axle of the target vehicle, the direction of the vehicle's front is the horizontal axis, and the direction perpendicular to the front of the vehicle is the vertical axis. Furthermore, the obstacle closest to the target vehicle in the target parking direction can be considered the target obstacle, and its position point can be mapped onto the preset coordinate system to obtain the obstacle's coordinate points. The reference vertical coordinate range can be used to determine the parking method. Specifically, the reference vertical coordinate range can be derived based on the target vehicle's movable range. By analyzing the relative positional relationship between the obstacle's coordinate points and the corresponding reference vertical coordinate range of the target vehicle, the target vehicle's movable range can be determined, thereby determining the target vehicle's parking method.

[0042] Optionally, determining the reference longitudinal coordinate range corresponding to the target vehicle includes: extending the minimum turning radius from the origin of the preset coordinate system towards the target parking direction to obtain a first rotation center; taking the intersection of the extended line and the outline of the target vehicle as the first intersection point; drawing an arc with the first rotation center as the center and the first intersection point as the radius; taking the intersection of the arc and the extended line of the front of the target vehicle as the first reference coordinate point; shifting the first rotation center along the horizontal and vertical directions by a reference safety distance to obtain a second rotation point; drawing an arc with the second rotation center as the center and the distance between the first rotation center and the first intersection point as the radius; taking the intersection of the arc and the extended line of the front of the target vehicle as the second reference coordinate point; and determining the reference longitudinal coordinate range based on the first and second reference coordinate points.

[0043] The minimum turning radius can be defined as the radius of the circle traced by the outer steering wheel center when the target vehicle is turned to its limit and traveling at its lowest stable speed. Specifically, users can set the minimum turning radius according to the model of the target vehicle. Further, taking the target parking direction as the rightward direction as an example, the first rotation center is obtained by extending the minimum turning radius to the right of the target vehicle from the origin of the preset coordinate system.

[0044] Furthermore, the reference safety distance can be the distance between the target vehicle and the preset boundary line when it turns. Specifically, an arc can be drawn with the first rotation center as the point and the distance between the first rotation center and the left front vertex of the target vehicle as the radius. An offset point with the same ordinate as the first rotation center can be obtained. The distance between this offset point and the preset boundary line (parallel to the longitudinal axis) can be used as the reference safety distance. Finally, the ordinates of the first and second reference coordinate points can be used as the two boundary coordinates of the reference ordinate range. For example, if the ordinate of the first reference coordinate point is Y1 and the ordinate of the second reference coordinate point is Y2, then the reference ordinate range is [Y1, Y2] or [Y2, Y1] (determined by the magnitude of the two coordinate values).

[0045] S240. Determine the target parking method based on the relative positions of the obstacle coordinates and the reference longitudinal coordinate range.

[0046] The target parking methods include: direct turning parking, straight-ahead turning parking, or multi-step parking. Direct turning parking can be understood as the target vehicle parking directly at a certain rotation angle. Straight-ahead turning parking can be understood as the target vehicle first needing to travel a certain distance straight before parking directly at a certain rotation angle. Multi-step parking can be understood as the target vehicle needing to perform multiple steps based on various rotation angles to park successfully.

[0047] Specifically, if the distance between the obstacle's coordinates and the vertical axis is less than the minimum distance between the reference vertical coordinate range and the vertical axis, the target parking method is determined to be multi-step parking; if the distance between the obstacle's coordinates and the vertical axis is greater than the maximum distance between the reference vertical coordinate range and the vertical axis, the target parking method is determined to be direct turning parking; otherwise, the target parking method is determined to be straight-ahead turning parking.

[0048] Specifically, if the distance between the obstacle's coordinates and the vertical axis is less than the minimum distance between the reference vertical coordinate range and the vertical axis, it can be understood that the target vehicle is too close to the obstacle to park directly with a single turn, requiring multiple turns. If the distance between the obstacle's coordinates and the vertical axis is greater than the maximum distance between the reference vertical coordinate range and the vertical axis, it can be understood that the target vehicle is too close to the obstacle to park directly with a single turn. Furthermore, if the distance between the obstacle's coordinates and the vertical axis is greater than the minimum distance between the reference vertical coordinate range and the vertical axis but less than the maximum distance, it can be understood that the target vehicle is at a moderate distance from the obstacle and can park directly by driving straight for a short distance and then turning.

[0049] Optionally, before determining the target parking method based on the relative positions of the obstacle coordinates and the reference longitudinal coordinate range, if the obstacle's transverse coordinate differs from the target vehicle's front transverse coordinate, the target vehicle can be controlled to move along the transverse axis until its front transverse coordinate matches the obstacle's transverse coordinate, at which point the movement stops. By keeping the obstacle's transverse coordinate and the target vehicle's front transverse coordinate the same, the criteria for determining vehicle parking can be standardized, reducing the computational load of vehicle parking analysis.

[0050] For example, Figure 3 This is a schematic diagram illustrating an analysis of berthing methods based on a preset coordinate system, provided by an embodiment of the present invention. For example... Figure 3 As shown: A preset coordinate system can be established with the center of the rear axle of the vehicle as the origin, the direction of the front of the vehicle (i.e., the AB direction) as the positive x-axis, and the left direction perpendicular to the front of the vehicle (i.e., the AD direction) as the positive y-axis.

[0051] When determining the first reference coordinate point B1: Using the rear axle center Ov as the base point, extend the minimum turning radius R perpendicularly to the vehicle's parking direction to determine the rotation center Or. The angle between line segment OvOr and the vehicle's outline AB is point E. With OrE as the radius and Or as the center point, draw an arc that intersects the extension of the vehicle's front outline CB at point B1.

[0052] To determine the second reference coordinate point B2: Using Or as the center point and OrC as the radius, draw an arc such that OrC1 is perpendicular to OvOr. Extend the line segment along OrC1 to intersect the baseline of the reverse protection zone (i.e., the preset boundary line) at C2. C1C2 represents the longest straight-line distance within the parking space that ensures the vehicle can park in one step. Using Or as the base point, take a point Or' along the OrC1 direction, making OrOr' equal to C1C2. Or' is the critical rotation point for the vehicle to park in one step. Assuming the vehicle travels a straight distance of C1C2, the intersection of the line Ov'Or' connecting the rear axle center and the rotation center with the vehicle's outline becomes E'. Using Or'E' as the radius and Or' as the center point, draw an arc. This arc intersects the extension of the initial vehicle's front outline CB at point B2.

[0053] B1 and B1 can form a reference ordinate range, which can be divided into the following three types according to the berthing method:

[0054] Parking exit method 1: Direct turning parking exit: If point P (the coordinate point of the obstacle) is to the right of point B2, the vehicle can park directly;

[0055] Parking method 2, straight-ahead then turning: If point P is located in the B1B2 area, the vehicle can first go straight for a certain distance and then park in one step;

[0056] 3. Multi-step berthing: If point P is located to the left of B1, then multi-step berthing is required.

[0057] S250. Determine the target parking path based on the target parking direction and target parking method, and control the target vehicle to perform a parking action based on the target parking path.

[0058] The target parking path can be the route taken by the target vehicle when performing the parking action. Specifically, multiple sub-paths can be determined by combining the target parking direction and target parking method, and then the routes of the multiple sub-paths can be combined to obtain the target parking path. Finally, the target parking path can be sent to the control module of the target vehicle, so that the control module can control the target vehicle to park along the target parking path.

[0059] Optionally, controlling the target vehicle to perform a parking maneuver based on the target parking path includes: dividing the target parking path into multiple sub-paths at preset intervals, determining the navigation parameters corresponding to each sub-path, and controlling the target vehicle to perform the parking maneuver based on the sub-path navigation parameters; wherein, the sub-path navigation parameters include at least one of the following: sub-path endpoint coordinates, heading angle, curvature, and gear position.

[0060] For example, Figure 4 This is a schematic diagram of a direct turning and parking path provided by an embodiment of the present invention. Figure 4 As shown, starting from the rear axle center point a, an arc is drawn with the vehicle's minimum turning radius R. Assuming the vehicle is moving in D gear, the trajectory line ab is obtained. The arc ab is divided into n equal arc segments. The endpoint of each arc segment is taken as a path point, and the coordinates, heading angle, curvature, and gear position corresponding to each path point are calculated. Then, the path point information is sent to the control module.

[0061] For example, Figure 5 This is a schematic diagram of a path for parking after turning after going straight, provided by an embodiment of the present invention. Figure 5 As shown, to avoid scraping against side obstacles, the vehicle needs to travel a certain distance straight before entering the turning phase. Based on the calculated coordinates of point P, assuming the shortest distance between the vehicle's side profile and point P is 0 when turning, the distance ab that the vehicle needs to travel straight in D gear is deduced. Then, starting from point b, an arc is drawn with the vehicle's minimum turning radius R, assuming the vehicle is in D gear, resulting in the trajectory line bc. The line segment ab and the arc bc are each divided into n equal segments. The endpoints of each segment or arc are taken as path points, and the coordinates, heading angle, curvature, and gear position corresponding to each path point are calculated. The path point information is then sent to the control module.

[0062] For example, Figure 6 This is a schematic diagram of a multi-step berthing path provided by an embodiment of the present invention. For example... Figure 6As shown, firstly, based on the calculated coordinates of point P, assuming the shortest distance between the vehicle's side profile and point P is 0 when turning, the distance ab that the vehicle needs to travel straight in D gear is deduced. Then, starting from point b, an arc is drawn with the vehicle's minimum turning radius R. The vehicle moves forward in D gear until the upper left vertex C of the vehicle's profile intersects the line containing the reverse protection zone, resulting in arc bc. Then, starting from point c, an arc is drawn with the vehicle's minimum turning radius R. Let the minimum distance between the vehicle's rear profile AD and the obstacle on the left be xm (TBD), resulting in arc cd. Then, starting from point d, an arc is drawn with the vehicle's minimum turning radius R. Let the vehicle move forward in D gear until the vehicle is perpendicular to the initial state, resulting in arc de. If, when calculating arc de, the upper left vertex C of the vehicle's profile intersects the line containing the reverse protection zone, the calculation of arcs cd and de needs to be repeated until the vehicle's profile no longer intersects with the reverse protection zone. The obtained line segments and arcs are divided into n equal segments. Then, the endpoints of each line segment or arc are taken as path points, and the coordinates, heading angle, curvature and gear position corresponding to each path point are calculated. Then, the path point information is sent to the control module.

[0063] The technical solution provided by this invention detects obstacles around a target vehicle and determines the obstacle position information of each obstacle; determines the target parking direction based on the obstacle position information; establishes a preset coordinate system and determines the reference longitudinal coordinate range corresponding to the obstacle coordinate points and the target vehicle within the preset coordinate system; determines the target parking method based on the relative positional relationship between the obstacle coordinate points and the reference longitudinal coordinate range; determines the target parking path based on the target parking direction and target parking method, and controls the target vehicle to perform a parking action based on the target parking path. This technical solution solves the problems of easy scraping and high human intervention rate in existing vehicle parking technologies. It can determine the target parking direction and target parking method by analyzing the obstacle position information, and then automatically generate the corresponding parking path based on the target parking direction and target parking method. This can improve the automation level of vehicle parking, enrich vehicle parking methods, and reduce vehicle parking safety.

[0064] Figure 7 This is a schematic diagram of a vehicle parking control device provided in an embodiment of the present invention. The embodiment of the present invention can be applied to scenarios where target vehicles are controlled to automatically park. The device can be implemented by software and / or hardware and integrated into a computer device with application development capabilities.

[0065] like Figure 7 As shown, the vehicle parking control device includes: an obstacle determination module 310, a parking analysis module 320, and a parking execution module 330.

[0066] The obstacle determination module 310 is used to detect obstacles around the target vehicle and determine the obstacle position information of each obstacle; the parking analysis module 320 is used to determine the target parking direction based on the obstacle position information, and to determine the target parking method based on the target parking direction and the obstacle position information; wherein the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; the parking execution module 330 is used to determine the target parking path based on the target parking direction and the target parking method, and to control the target vehicle to perform a vehicle parking action based on the target parking path.

[0067] The technical solution provided by this invention detects obstacles around a target vehicle and determines the obstacle position information of each obstacle; determines the target parking direction based on the obstacle position information; and determines the target parking method based on the target parking direction and the obstacle position information. The target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking. A target parking path is determined based on the target parking direction and the target parking method, and the target vehicle is controlled to perform a parking action based on the target parking path. This technical solution solves the problems of easy collisions and high human intervention rates in existing vehicle parking technologies. It can determine the target parking direction and the target parking method by analyzing the obstacle position information, and then automatically generate a corresponding parking path based on the target parking direction and the target parking method. This can improve the automation level of vehicle parking, enrich vehicle parking methods, and reduce vehicle parking safety.

[0068] In one optional implementation, the parking analysis module 320 includes a parking direction determination unit, configured to: determine the target parking direction as the left direction when there are no obstacles on the left side of the target vehicle and there are obstacles on the right side, or the distance between obstacles on the left side is greater than the distance between obstacles on the right side; and determine the target parking direction as the right direction when there are obstacles on the left side of the target vehicle and there are no obstacles on the right side, or the distance between obstacles on the left side is less than the distance between obstacles on the right side.

[0069] In one optional implementation, the parking analysis module 320 includes a parking mode determination unit, configured to: establish a preset coordinate system, and determine the reference longitudinal coordinate range corresponding to the obstacle coordinate points and the target vehicle in the preset coordinate system; wherein the origin of the preset coordinate system is the rear axle center of the target vehicle, the direction of the vehicle's front is the transverse axis direction, and the direction perpendicular to the vehicle's front is the longitudinal axis direction; and determine the target parking mode based on the relative position of the obstacle coordinate points and the reference longitudinal coordinate range.

[0070] In one optional embodiment, the parking method determination unit includes a reference longitudinal coordinate range determination subunit, configured to: extend the minimum turning radius from the origin of the preset coordinate system toward the target parking direction to obtain a first rotation center; take the intersection of the extended line and the outline of the target vehicle as the first intersection point; draw an arc with the first rotation center as the center point and the first intersection point as the radius; take the intersection of the arc and the extended line of the front of the target vehicle as the first reference coordinate point; translate the first rotation center along the horizontal and vertical directions by a reference safety distance to obtain a second rotation point; draw an arc with the second rotation center as the center point and the distance between the first rotation center and the first intersection point as the radius; take the intersection of the arc and the extended line of the front of the target vehicle as the second reference coordinate point; and determine the reference longitudinal coordinate range based on the first reference coordinate point and the second reference coordinate point.

[0071] In one optional implementation, the parking method determination unit includes a positional relationship analysis subunit, configured to: determine the target parking method as multi-step parking when the distance between the obstacle coordinate point and the longitudinal axis is less than the minimum distance between the reference longitudinal coordinate range and the longitudinal axis; determine the target parking method as direct turning parking when the distance between the obstacle coordinate point and the longitudinal axis is greater than the maximum distance between the reference longitudinal coordinate range and the longitudinal axis; otherwise, determine the target parking method as straight-ahead turning parking.

[0072] In one optional embodiment, the parking mode determination unit includes: a horizontal coordinate unification unit, used to: before determining the target parking mode based on the relative position of the obstacle coordinate point and the reference vertical coordinate range, control the target vehicle to move along the horizontal axis direction when the horizontal coordinate of the obstacle is different from the horizontal coordinate of the front of the target vehicle, until the horizontal coordinate of the front of the vehicle is the same as the horizontal coordinate of the obstacle, and then stop moving.

[0073] In one optional implementation, the parking execution module 330 includes a sub-path analysis unit, configured to: divide the target parking path into multiple sub-paths at preset intervals, determine the sub-path navigation parameters corresponding to each sub-path, and control the target vehicle to perform a parking action based on the sub-path navigation parameters; wherein, the sub-path navigation parameters include at least one of the following: sub-path endpoint coordinates, heading angle, curvature, and gear position.

[0074] The vehicle parking control device provided in this embodiment of the invention can execute the vehicle parking control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0075] Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 8A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention is shown. Figure 8 The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured in a vehicle parking control device.

[0076] like Figure 8 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0077] Bus 18 can be one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0078] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0079] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 8 Not shown; usually referred to as a "hard drive"). Although Figure 8 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0080] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0081] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 20. Figure 8 As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 8 As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0082] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the vehicle parking control method provided in this embodiment of the invention, which includes:

[0083] The system detects obstacles around the target vehicle and determines the obstacle position information of each obstacle; it determines the target parking direction based on the obstacle position information, and determines the target parking method based on the target parking direction and the obstacle position information; wherein, the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; it determines the target parking path based on the target parking direction and the target parking method, and controls the target vehicle to perform a vehicle parking action based on the target parking path.

[0084] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle parking control method as provided in any embodiment of the present invention, including:

[0085] The system detects obstacles around the target vehicle and determines the obstacle position information of each obstacle; it determines the target parking direction based on the obstacle position information, and determines the target parking method based on the target parking direction and the obstacle position information; wherein, the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; it determines the target parking path based on the target parking direction and the target parking method, and controls the target vehicle to perform a vehicle parking action based on the target parking path.

[0086] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0087] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0088] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0089] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as C, Java, Smalltalk, C++, C#, and Python, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0090] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0091] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A vehicle parking exit control method, characterized in that, include: Detect obstacles around the target vehicle and determine the location information of each obstacle; The target parking direction is determined based on the obstacle location information, and the target parking method is determined based on the target parking direction and the obstacle location information; wherein, the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; The target parking path is determined based on the target parking direction and the target parking method, and the target vehicle is controlled to perform a parking action based on the target parking path.

2. The method according to claim 1, characterized in that, Determining the target parking direction based on the obstacle location information includes: If there are no obstacles on the left side of the target vehicle but there are obstacles on the right side, or if the distance between obstacles on the left side is greater than the distance between obstacles on the right side, the target parking direction is determined to be the left direction. If there is an obstacle on the left side of the target vehicle and no obstacle on the right side, or if the distance between obstacles on the left side is less than the distance between obstacles on the right side, the parking direction of the target vehicle is determined to be the right side.

3. The method according to claim 1, characterized in that, The step of determining the target parking method based on the target parking direction and the obstacle position information includes: A preset coordinate system is established, and the reference longitudinal coordinate range of the obstacle coordinate points and the target vehicle is determined in the preset coordinate system; wherein, the origin of the preset coordinate system is the rear axle center of the target vehicle, the direction of the vehicle's front is the transverse axis direction, and the direction perpendicular to the vehicle's front is the longitudinal axis direction. The target parking method is determined based on the relative positions of the obstacle coordinates and the reference ordinate range.

4. The method according to claim 3, characterized in that, Determining the reference ordinate range corresponding to the target vehicle includes: The first rotation center is obtained by extending the minimum turning radius from the origin of the preset coordinate system toward the target parking direction. The intersection of the extended line and the outline of the target vehicle is taken as the first intersection point. An arc is drawn with the first rotation center as the center point and the first intersection point as the radius. The intersection of the arc and the extended line of the front of the target vehicle is taken as the first reference coordinate point. The first rotation center is translated along the horizontal and vertical directions by a reference safety distance to obtain the second rotation point. An arc is drawn with the second rotation center as the center point and the distance between the first rotation center and the first intersection point as the radius. The intersection point of the arc and the extension line of the front of the target vehicle is taken as the second reference coordinate point. The range of the reference ordinate is determined based on the first reference coordinate point and the second reference coordinate point.

5. The method according to claim 3, characterized in that, Determining the target parking method based on the relative positions of the obstacle coordinates and the reference ordinate range includes: If the distance between the obstacle coordinate point and the vertical axis is less than the minimum distance between the reference vertical coordinate range and the vertical axis, the target parking method is determined to be multi-step parking. If the distance between the obstacle coordinate point and the vertical axis is greater than the maximum distance between the reference vertical coordinate range and the vertical axis, the target parking method is determined to be direct turning parking. Otherwise, the target parking method is determined to be straight-ahead parking followed by a turn.

6. The method according to claim 3, characterized in that, Before determining the target parking method based on the relative positions of the obstacle coordinates and the reference ordinate range, the method further includes: If the horizontal coordinate of the obstacle is different from the horizontal coordinate of the target vehicle's front end, the target vehicle is controlled to move along the horizontal axis until the horizontal coordinate of the vehicle's front end is the same as the horizontal coordinate of the obstacle, at which point the movement stops.

7. The method according to claim 1, characterized in that, The control of the target vehicle to perform a parking action based on the target parking path includes: The target parking path is divided into multiple sub-paths at preset intervals. Each sub-path has its own navigation parameters, and the target vehicle is controlled to perform a parking maneuver based on the sub-path navigation parameters. The sub-path navigation parameters include at least one of the following: sub-path endpoint coordinates, heading angle, curvature, and gear position.

8. A vehicle parking exit control device, characterized in that, The device includes: An obstacle determination module is used to detect obstacles around the target vehicle and determine the obstacle position information of each obstacle; a parking analysis module is used to determine the target parking direction based on the obstacle position information, and to determine the target parking method based on the target parking direction and the obstacle position information; wherein, the target parking method includes: direct turning parking, straight-ahead turning parking, or multi-step parking; a parking execution module is used to determine the target parking path based on the target parking direction and the target parking method, and to control the target vehicle to perform a vehicle parking action based on the target parking path.

9. A computer device, characterized in that, The computer device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle parking control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the vehicle parking control method as described in any one of claims 1-7.

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