Parking method, parking device and equipment for customizing parking space and medium

Abstract

The invention relates to the technical field of automatic parking, and discloses a parking method, a parking device, equipment and a medium for customizing a parking stall, and the parking method comprises the steps: obtaining chassis information used for representing the state of a vehicle, perception information used for representing obstacles around the vehicle, and positioning information used for representing the position of the vehicle; in response to in-vehicle information issued by a user, determining an area range of the virtual parking space; wherein the virtual parking space represents an area where the vehicle needs to be parked when the vehicle is parked; in response to the area range of the virtual parking space, determining a parking path based on the chassis information, the sensing information and the positioning information; and according to the parking path and the chassis information, the vehicle is controlled to be automatically parked in the virtual parking space according to the parking path. According to the technical scheme provided by the invention, the parking space can be accurately identified and the parking efficiency and the success rate can be improved in an environment without clear line drawing or under the influence of obstacles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic parking, and in particular to a parking method for self-defined parking space, a parking device, equipment and a medium. BACKGROUND

[0002] An automatic parking system (APS) relies on sensors to detect parking spaces and plan a path into the garage, but in parking environments without clear lines or affected by obstacles, the prior art often cannot accurately identify parking spaces, resulting in low parking efficiency and low success rate. Especially when the parking space boundary is not clear or is blocked by obstacles, the system may incorrectly determine that the parking space is not available or cannot successfully plan a path, thereby affecting user experience and wasting time.

[0003] Therefore, how to accurately identify parking spaces and improve parking efficiency and success rate in environments without clear lines or affected by obstacles is a technical problem that needs to be solved at present. SUMMARY

[0004] The present application provides a parking method for self-defined parking space, a parking device, equipment and a medium, which achieves the technical effect of accurately identifying parking spaces and improving parking efficiency and success rate in environments without clear lines or affected by obstacles.

[0005] In order to achieve the above purpose, the main technical scheme adopted by the present application includes: In a first aspect, the present application provides a parking method for self-defined parking space, which comprises: obtaining chassis information for representing the state of the vehicle, perception information for representing obstacles around the vehicle, and positioning information for representing the position of the vehicle; in response to the infotainment information issued by the user, determining the area range of the virtual storage location; wherein the virtual storage location represents the area where the vehicle needs to be parked when parking; in response to the area range of the virtual storage location, determining a parking path based on the chassis information, the perception information and the positioning information; controlling the vehicle to automatically park into the virtual storage location according to the parking path and the chassis information.

[0006] The parking method for customizing a parking space provided by the embodiment can accurately identify a parking area and plan an optimal parking path by comprehensively using chassis information, sensing information and positioning information. In an environment without explicit marking or obstacle influence, the area range of a virtual storage location is determined in response to user vehicle information, so as to ensure that a vehicle can be successfully identified and entered into a parking space in a complex and irregular parking lot. Meanwhile, the vehicle can be automatically controlled to park into the virtual storage location according to the planned path, so as to reduce driver intervention and improve parking efficiency and success rate. The technology is particularly prominent in a complex environment, and effectively improves the automation degree and accuracy of the parking process.

[0007] In one embodiment, the user-issued vehicle information includes a custom area operation performed by the user on an interactive interface, and the interactive interface displays a plurality of preset virtual frames; wherein the custom area operation includes a dragging and rotating operation; The determination of the area range of the virtual storage location includes: According to the virtual frame selected by the user on the interactive interface, a target virtual frame is determined; According to the dragging and rotating operation performed by the user on the target virtual frame, the area range of the virtual storage location is determined.

[0008] The embodiment can accurately define the size and position of the virtual frame through the dragging and rotating operation, so as to ensure that the available parking space can be accurately identified. Through the custom area operation on the interactive interface, the user can adjust the position and direction of the parking area according to the actual environment, thereby overcoming the limitation of the traditional technology in identifying the parking space in an environment without explicit marking or influenced by obstacles.

[0009] In one embodiment, the determination of the parking path based on the chassis information, the sensing information and the positioning information in response to the area range of the virtual storage location includes: In response to the area range of the virtual storage location, a storage location corner point vector corresponding to the virtual storage location is determined, and an orientation angle of a target parking point is determined according to the storage location corner point vector; According to the total length of the vehicle in the chassis information and the storage location corner point vector, a parking distance of a vehicle head position from the virtual storage location in a length direction is determined; According to the front overhang plus wheelbase length of the vehicle in the chassis information, the parking distance and the orientation angle, a parking coordinate position of the target parking point is determined; According to the current position of the vehicle in the positioning information, the parking coordinate position and the obstacle in the sensing information, the parking path is planned and determined.

[0010] The embodiment can accurately determine the orientation and parking position of the target parking point in an environment without explicit marking lines or affected by obstacles through precise virtual storage location positioning and vehicle information calculation, thereby greatly improving parking efficiency. By intelligently planning the optimal parking path, the vehicle can avoid obstacles and repeated adjustments to ensure smooth arrival at the parking space. In addition, it has the ability to cope with complex and irregular parking environments and can adapt to environmental changes to ensure that the vehicle can successfully complete the parking operation even without explicit marking lines, significantly improving the parking success rate.

[0011] In one embodiment, the determination of the parking distance of the vehicle head position from the virtual storage location in the length direction according to the total length of the vehicle in the chassis information and the angle point vector of the storage location includes: determining the average length corresponding to the long side vector of the virtual storage location in the length direction according to the long side vector of the virtual storage location in the length direction in the angle point vector of the storage location; determining the difference between the average length and the total length of the vehicle; dividing the difference by a preset multiple to obtain the parking distance of the vehicle head position from the virtual storage location in the length direction.

[0012] The embodiment calculates the average length of the long side vector of the virtual storage location to obtain the typical size of the virtual storage location. Then, the difference between the total length of the vehicle and the average length of the virtual storage location is calculated, which represents the space remaining in the virtual storage location in addition to the length of the vehicle itself. Finally, by dividing the difference by a preset multiple, the parking position of the vehicle head in the storage location is determined, thereby realizing the reasonable parking of the vehicle. In an environment without explicit marking lines or obstacles, the parking of the vehicle can be automatically adjusted by this method to ensure that the vehicle can accurately enter the parking space regardless of whether the storage location has explicit marking lines. Through this calculation method, the vehicle can be parked flexibly at the center of the storage location or near one end of the storage location, thereby optimizing the utilization rate of the parking space and improving the success rate and efficiency of parking.

[0013] In one embodiment, the determination of the parking coordinate position of the target parking point according to the front overhang plus wheelbase length of the vehicle in the chassis information, the parking distance, and the orientation angle includes: determining the horizontal coordinate position and the vertical coordinate position of the midpoint of the front edge of the virtual storage location according to the angle point vector of the storage location; determining the adjustment amount of the vehicle parking according to the front overhang plus wheelbase length of the vehicle and the parking distance; determining the horizontal coordinate projection and the vertical coordinate projection corresponding to the adjustment amount according to the orientation angle; Subtracting the horizontal coordinate projection from the horizontal coordinate position yields the horizontal parking coordinate position of the target parking point, and subtracting the vertical coordinate projection from the vertical coordinate position yields the vertical parking coordinate position of the target parking point.

[0014] This embodiment accurately locates the parking reference point by calculating the horizontal and vertical coordinates of the midpoint of the front edge of the virtual parking space. Next, based on the vehicle's front overhang plus wheelbase length and parking distance, the required parking adjustment is calculated, and further, the horizontal and vertical coordinate projections of the adjustment are determined according to the orientation angle. Finally, by subtracting the projection values, the target parking coordinate position is obtained, ensuring that the vehicle can accurately park in a parking space in an unmarked environment. This process allows the vehicle to adapt to different parking environments, improving parking efficiency and success rate, and enabling precise parking operations even in confined spaces or without clear guidance.

[0015] In one implementation, planning and determining the parking path based on the vehicle's current location in the positioning information, the parking coordinates, and obstacles in the sensing information includes: Based on the obstacles in the perceived information, and using a preset path planning algorithm, a candidate path is determined for the vehicle from its current position to its parking coordinates; wherein the candidate path does not pass through the obstacles. Determine the path length of the candidate path; The path lengths are sorted, and the candidate path corresponding to the shortest path length is determined as the parking path.

[0016] This embodiment improves parking efficiency and success rate by identifying and avoiding obstacles in real time, ensuring vehicles can smoothly reach their target parking positions. By sorting candidate paths by length and selecting the shortest path, not only is the time and distance required for parking reduced, but multiple adjustments are also avoided, improving the smoothness of the parking process.

[0017] In one embodiment, after determining the area range of the virtual parking space, the parking method further includes: performing path pre-planning using the area range of the virtual parking space, the sensing information, and the positioning information; The vehicle information is updated based on the route pre-planning results, wherein the updated vehicle information includes: If the path pre-planning result is successful, a command is generated to prompt the user to confirm parking. If the path pre-planning result fails, an instruction is generated to prompt the user to re-determine the area range of the virtual storage location until the path pre-planning result is successful.

[0018] The embodiment determines the optimal parking path through path pre-planning, and then updates the car machine information and provides feedback according to the result of path pre-planning. If the path pre-planning is successful, the user is prompted to confirm parking; if it fails, the user is prompted to adjust the area range of the virtual storage location and re-plan until success. This process significantly improves the parking efficiency and success rate, ensures that the vehicle can be smoothly parked in the target parking space in a complex environment, avoids the interference of obstacles, and improves the safety and intelligent level of parking.

[0019] In a second aspect, the embodiment of the present application provides a parking device for self-defined parking space, comprising: an information input module, configured to acquire chassis information for representing a state of a vehicle, perception information for representing obstacles around the vehicle, and positioning information for representing a position of the vehicle; A storage location management module is configured to determine an area range of a virtual storage location in response to car machine information issued by a user; wherein the virtual storage location represents an area where the vehicle needs to be parked when parking; A path planning module is configured to determine a parking path based on the chassis information, the perception information and the positioning information in response to the area range of the virtual storage location; A behavior decision module is configured to control the vehicle to automatically park into the virtual storage location according to the parking path and the chassis information.

[0020] In a third aspect, the embodiment of the present application provides a computer device, comprising: A memory and a processor, which are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the self-defined parking space parking method described above.

[0021] In a fourth aspect, the embodiment of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the self-defined parking space parking method described above. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0023] Figure 1 A flowchart of a self-defined parking space parking method provided by the embodiment of the present application; Figure 2A state machine control flowchart provided for the embodiments of the present application; Figure 3 A flowchart for determining the area range of the virtual storage location provided for the embodiments of the present application; Figure 4 A flowchart of step S5 provided for the embodiments of the present application; Figure 5 A virtual storage location diagram provided for the embodiments of the present application; Figure 6 A flowchart of step S53 provided for the embodiments of the present application; Figure 7 A flowchart of step S55 provided for the embodiments of the present application; Figure 8 A flowchart of step S57 provided for the embodiments of the present application; Figure 9 A flowchart after determining the area range of the virtual storage location provided for the embodiments of the present application; Figure 10 A block diagram of a self-defined parking device for a parking space provided for the embodiments of the present application; Figure 11 A structural schematic diagram of a computer device provided for the embodiments of the present application. DETAILED DESCRIPTION

[0024] To make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] An automatic parking system (APS) is an intelligent system that helps vehicles to automatically complete parking tasks in a parking lot or designated area through sensors and computer algorithms. With the development of automobile intelligence, the automatic parking system has gradually become a standard configuration of many high-end vehicles. Its main function is to help drivers complete parking in complex environments, thereby improving the driving experience and reducing the operating pressure of drivers. However, the existing automatic parking technology still has some limitations in actual application, especially in parking environments without clear lines, narrow or with obstacles. Traditional technology often cannot meet user needs, resulting in low parking efficiency or low parking success rate.

[0026] In the prior art, an automatic parking system usually relies on sensors (such as ultrasonic sensors, fisheye cameras, etc.) to detect the four corner points of a target parking space in order to plan an entry path. This approach requires actual parking space information, i.e. the parking spaces in the parking lot must exist and be unobstructed, so that the sensors can correctly identify and output available parking spaces. However, in actual applications, especially when the road surface is empty or the parking spaces are not clearly marked, the system cannot provide effective parking space information, resulting in the inability to park. In many cases, the parking spaces in the parking lot do not have clear boundaries, or the parking spaces are partially obstructed by obstacles, and the traditional system cannot identify these spaces as available parking spaces. In such cases, users often cannot use the automatic parking function, resulting in unnecessary time waste. The current system relies on sensors to detect parking spaces, and if part of the parking space is pressed by an obstacle, the system will incorrectly determine that the parking space is not available. In addition, if the parking space is relatively narrow, it may cause the car door to be unable to open, affecting the user's getting off. After the user selects a target parking space and confirms it, the existing system relies on a pre-set path planning to ensure that the vehicle can smoothly enter the parking space. However, the size, shape of the target parking space or the presence of obstacles may cause the path planning to fail, thereby affecting user experience and satisfaction.

[0027] Therefore, how to accurately identify parking spaces and improve parking efficiency and success rate in environments without clear markings or affected by obstacles is a technical problem that needs to be solved at present.

[0028] According to an embodiment of the present application, a self-defined parking space parking method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0029] In this embodiment, a self-defined parking space parking method is provided, Figure 1 A flowchart of a self-defined parking space parking method provided by an embodiment of the present application is shown in Figure 1 The flowchart includes the following steps: Step S1, obtaining chassis information for representing a vehicle state, perception information for representing obstacles around the vehicle, and positioning information for representing a vehicle position.

[0030] Specifically, chassis information reflects the dynamic and mechanical state of the vehicle, which is crucial for controlling vehicle movement and performing parking operations. It mainly includes vehicle speed, acceleration, steering wheel angle, wheel pulse, gear position. Perception information is obtained through sensors (such as cameras, radars, lidar, etc.) equipped on the vehicle, which is used to perceive the environment around the vehicle, including static obstacles, moving obstacles, and storage location information. Positioning information is used to determine the precise position of the vehicle in the environment, usually provided by GPS technology, including the vehicle's location. Car information involves user interaction with the vehicle through the interactive interface, including user operations such as selecting a parking space virtually through a touch screen, clicking a "confirm parking" button, etc.

[0031] Step S3, in response to the user-issued car information, determine the area range of the virtual storage location; wherein the virtual storage location represents the area where the vehicle needs to be parked when parking.

[0032] Specifically, when the user selects and customizes a virtual storage location through the car interactive interface, the area range of a specific virtual storage location will be determined in response to these car information. This virtual storage location represents the precise area where the vehicle needs to be parked when parking. The determination of the area range is based on user operations on the interactive interface, such as dragging and rotating a pre-set virtual box to match the available parking space in the actual environment. In this way, the user's intention can be translated into parking instructions that the vehicle can understand and execute, thereby realizing the automatic parking function and ensuring that the vehicle is parked in a safe and appropriate location specified by the user. This process not only improves the flexibility and convenience of parking, but also enhances the user's sense of control and satisfaction during the parking process.

[0033] Step S5, in response to the area range of the virtual storage location, determine the parking path based on the chassis information, perception information, and positioning information.

[0034] Specifically, in response to the area range of the virtual storage location defined by the user through the car interactive interface, the chassis information, perception information, and positioning information of the vehicle will be comprehensively utilized to intelligently plan a parking path. Chassis information provides detailed data on the dynamic and mechanical state of the vehicle, perception information reveals the distribution of obstacles around the vehicle, and positioning information ensures the accuracy of the vehicle's location. The combination of these three types of information enables the assessment of the vehicle's movement capabilities, the identification of potential collision risks, and the accurate calculation of a feasible path from the current location to the target parking area, thereby achieving safe and efficient automatic parking.

[0035] Step S7, according to the parking path and chassis information, control the vehicle to automatically park into the virtual storage location according to the parking path.

[0036] Specifically, controlling the vehicle to automatically park into the virtual storage location according to the parking path is managed through a state machine, please refer to Figure 2This application provides a state machine control flowchart for its embodiments. These states include: Off State: The system is not activated, and all functions are off. Self-Check State: The system performs a self-check upon startup to ensure all components are functioning correctly. Waiting State: The system waits for user input or for specific conditions to be met. Hold State: The system maintains its current state until a new instruction is received. Ready State: The system is ready to begin parking operations. Activated State: Parking operations officially begin. Paused State: Parking operations are temporarily suspended, awaiting user or system instructions. Completed State: Parking operations are successfully completed. Exit State: The user actively exits the parking process. Aborted State: Parking operations are forcibly stopped due to errors or emergencies. Failed State: Parking operations fail for some reason. The state machine determines state transitions based on the vehicle's current state and external inputs (such as user operations, sensor inputs, etc.). For example: T1: The vehicle is powered on and functions are enabled. T2: Power is off or functions are disabled. T3: An internal system fault occurs (controller internal fault, etc.). T4: An external system fault occurs (CAN signal fault, etc.). T5: No internal or external related system faults. T6: Initial vehicle posture meets conditions (doors closed, vehicle prohibited, etc.). T7: Initial vehicle posture does not meet conditions (doors open, vehicle moving, etc.). T8: Custom virtual parking space meets automatic parking conditions (path can be planned). T9: Vehicle control conditions are met (clicking the parking confirmation button, vehicle prohibited, actuator handshake successful, etc.). T10: Pause conditions are met (stopping due to obstacle, etc.). T11: Pause conditions are not met (e.g., vehicle stops due to an obstacle blocking its path, then the obstacle is removed). T12: Termination conditions are met (forcefully turning the steering wheel, etc.). T13: Vehicle reaches the target position. T14: Termination conditions are met (same as T12). T15: Vehicle prohibited, electronic parking brake engaged. T16: Termination conditions are met (same as T12). T17: Vehicle prohibited, steering wheel returned to center, electronic parking brake engaged, etc. T18: External system malfunction resolved.

[0037] This embodiment provides a parking method for customized parking spaces. By integrating chassis information, perception information, and positioning information, it can accurately identify parking areas and plan the optimal parking path. In environments without clearly marked lines or obstacles, it responds to user vehicle information to determine the area of ​​the virtual parking space, ensuring that the vehicle can successfully identify and enter the parking space in complex and irregular parking lots. Simultaneously, it can automatically control the vehicle to park in the virtual parking space according to the planned path, reducing driver intervention and improving parking efficiency and success rate. This technology performs particularly well in complex environments, effectively improving the automation and accuracy of the parking process.

[0038] Figure 3The flowchart provided by the embodiment of the present application for determining the area range of the virtual storage location includes the vehicle information issued by the user, which includes the custom area operation performed by the user on the interactive interface, and a plurality of preset virtual frames are displayed on the interactive interface. The custom area operation includes a dragging operation and a rotating operation. The flowchart can include the following steps: Step S31, determining a target virtual frame according to the virtual frame selected by the user on the interactive interface.

[0039] Specifically, the user sees a plurality of preset virtual frames on the vehicle interactive interface, and these virtual frames represent possible parking areas. The preset virtual frame is a standard parking space size and shape built into the vehicle, and the size is usually based on common parking space standards, such as according to regional parking lot design specifications. The user selects a virtual frame by touching the screen or using the control buttons of the vehicle, and the selected virtual frame becomes the target virtual frame for subsequent custom area operation.

[0040] Step S33, determining the area range of the virtual storage location according to the dragging and rotating operations of the user on the target virtual frame.

[0041] Specifically, the user adjusts the position of the target virtual frame by dragging (moving) it to align with the desired parking area. In addition to dragging, the user can also adjust the orientation of the target virtual frame by rotating it. The rotating operation allows the user to change the parking direction according to the actual layout of the parking space. For some irregularly shaped parking spaces, the rotating operation is particularly important, allowing the parking position to flexibly adapt to different angle parking needs. When the user drags and rotates the virtual frame, the position and orientation of the virtual frame are updated in real time, and the coordinates of the four adjusted corner points are recorded. These coordinates define the area range of the target virtual storage location and provide accurate data for path planning and vehicle parking. After the user completes the dragging and rotating operations, a "confirm parking" button is provided, which the user can click to confirm the area range of the final selected virtual storage location. Once confirmed, path planning will be started and the vehicle will be guided into the target area through automatic parking technology.

[0042] The embodiment can accurately define the size and position of the virtual frame through the dragging and rotating operations, thereby ensuring accurate identification of available parking spaces. This operation allows the user to adjust the position and direction of the parking area according to the actual environment by performing custom area operations on the interactive interface, overcoming the limitations of traditional technologies in identifying parking spaces in environments without clear lines or affected by obstacles.

[0043] Figure 4 The flowchart of step S5 provided by the embodiment of the present application can include the following steps: Step S51, in response to the area range of the virtual storage location, determine the storage location corner point vector corresponding to the virtual storage location, and determine the heading angle of the target parking point according to the storage location corner point vector.

[0044] Specifically, the direction that the vehicle should face after completing parking, i.e. the heading angle of the target parking point (target_pos_heading), is calculated. This heading angle is crucial for ensuring that the vehicle is parked correctly in the virtual storage location. Please refer to Figure 5 The virtual storage location diagram provided by the embodiments of the present application. First, according to the area range of the virtual storage location defined by the user on the interactive interface, the four corner points (a, b, c, d) of the virtual storage location are determined. Then, two key vectors constituting the virtual storage location are calculated: vec_pt_cb (vector from point c to point b) and vec_pt_da (vector from point d to point a). These two vectors usually represent the long side of the storage location, i.e. the direction in which the vehicle needs to be parked. The heading angle (target_pos_heading) is obtained by calculating the average of the angles of these two vectors. The specific formula is: target_pos_heading = (vec_pt_cb.Angle() + vec_pt_da.Angle()) / 2, where vec_pt_cb.Angle() and vec_pt_da.Angle() represent the angle between the vectors vec_pt_cb and vec_pt_da and a certain reference direction (usually the positive direction of the X axis). The heading angle finally calculated will be used to guide the steering control of the vehicle, ensuring that the vehicle can be accurately parked in the virtual storage location according to the calculated direction.

[0045] Step S53, according to the total length of the vehicle in the chassis information and the storage location corner point vector, determine the parking distance of the vehicle head position from the virtual storage location in the length direction.

[0046] Specifically, according to the total length of the vehicle and the size of the storage location calculated by the storage location corner point vector, the parking distance of the vehicle in the length direction of the virtual storage location can be determined. This distance is calculated to ensure that the vehicle can completely fit into the selected virtual storage location space, while ensuring the position of the vehicle when parked, such as center alignment. Specifically, first, the length and width of the storage location are determined using the storage location corner point vector, and then combined with the total length of the vehicle, the appropriate distance of the front end of the vehicle from the front edge of the storage location is calculated, so as to provide sufficient space for the vehicle to safely enter and park in the storage location during parking. The calculation of this parking distance is crucial for avoiding collisions and optimizing space utilization, so that the vehicle can be accurately parked in the virtual storage location selected by the user when parking.

[0047] Step S55, according to the front suspension plus wheelbase length in the chassis information, the parking distance and the orientation angle of the target parking point, determine the parking coordinate position of the target parking point.

[0048] Specifically, by combining the front suspension plus wheelbase length in the chassis information, the calculated parking distance and the orientation angle of the target parking point, the target parking coordinate position of the vehicle in the virtual storage location can be accurately determined. This process involves taking into account the total length of the front suspension and wheelbase of the vehicle and the distance (parking distance) that needs to be maintained from the front edge of the storage location when parking, and then adjusting the front and rear positions of the vehicle according to the orientation angle to calculate the accurate parking point of the vehicle in the storage location. Such calculation ensures that the vehicle can be safely and accurately parked in the virtual storage location selected by the user, achieving correct parking and facing the correct direction, while avoiding collision with the boundaries of the storage location or surrounding obstacles.

[0049] Step S57, according to the current position of the vehicle in the positioning information, the parking coordinate position and the obstacles in the perception information, plan and determine the parking path.

[0050] Specifically, first identify the current position of the vehicle relative to the target parking position, then combine the distribution of obstacles and use path planning algorithms to calculate a feasible path from the current position to the parking coordinate position. This path is designed to avoid all obstacles while taking into account the kinematic and dynamic constraints of the vehicle to ensure safe and smooth travel to the predetermined parking position. The goal of path planning is to find the shortest and safest route to improve parking efficiency and user experience.

[0051] This embodiment can accurately determine the orientation and parking position of the target parking point in an environment without explicit marking or affected by obstacles, greatly improving parking efficiency, through precise virtual storage location positioning and vehicle information calculation. By intelligently planning the optimal parking path, the vehicle can avoid obstacles and avoid repeated adjustments to ensure smooth arrival at the parking space. In addition, it has the ability to cope with complex and irregular parking environments, and can adapt to environmental changes to ensure that the vehicle can successfully complete the parking operation even in the absence of explicit marking, significantly improving the parking success rate.

[0052] Figure 6 The flowchart of step S53 provided by the embodiments of the present application can include the following steps: Step S531, according to the long side vector of the virtual storage location in the length direction in the angle point vector, determine the average length corresponding to the long side vector.

[0053] Specifically, the virtual parking space has four corner points: a, b, c, d, wherein the vectors vec_pt_cb and vec_pt_da represent two opposite sides (long sides) of the virtual parking space. To calculate the average length of the two long sides, the lengths of the two vectors, which represent the two long sides of the virtual parking space, are obtained by calculating vec_pt_cb.Length() and vec_pt_da.Length(). The formula for calculating the average length is: average length = (vec_pt_cb.Length() + vec_pt_da.Length()) / 2. This average length represents the typical size of the virtual parking space in the length direction, and can also be understood as the "standard" length of the virtual parking space. This calculation is to obtain a representative size of the virtual parking space, rather than simply using the length of one of the sides.

[0054] Step S533, determine the difference between the average length and the total length of the vehicle.

[0055] Specifically, the difference between the average length of the virtual parking space and the total length of the vehicle vehicle.Length() is calculated. This difference represents the space remaining in the length direction of the virtual parking space, in addition to the length of the vehicle itself. Difference = average length - vehicle.Length().

[0056] Step S535, divide the difference by a preset multiple to obtain the parking distance of the vehicle head position from the virtual parking space in the length direction.

[0057] Specifically, the position of the vehicle head when parking is calculated. According to the difference, the parking distance of the vehicle can be obtained by dividing by a preset multiple, parking distance front_dis = difference / preset multiple. The preset multiple is usually 1 or 2, depending on the desired position of the vehicle. For example, if the vehicle is desired to be in the center of the virtual parking space, the preset multiple is usually selected to be 2, thereby ensuring that the head and tail of the vehicle are symmetrically distributed within the parking space. If the preset multiple is 1, the positions of the vehicle head and tail will be closer to one end of the virtual parking space. This calculation can be adjusted flexibly, depending on actual needs.

[0058] The embodiment obtains the typical size of the virtual parking space by calculating the average length of the long side vector of the virtual parking space. Then, the difference between the total length of the vehicle and the average length of the virtual parking space is calculated, which represents the space remaining in the virtual parking space except for the length of the vehicle itself. Finally, by dividing the difference by a preset multiple, the parking position of the vehicle head in the parking space is determined, thereby realizing the reasonable parking of the vehicle. In the environment without clear lines or obstacles, the parking of the vehicle can be automatically adjusted by this method, ensuring that the vehicle can accurately enter the parking space, whether the parking space has clear markings or not. Through this calculation method, the vehicle can be parked flexibly in the center of the parking space or close to one end of the parking space, thereby optimizing the utilization rate of the parking space and improving the success rate and efficiency of parking.

[0059] Figure 7 The flowchart of step S55 provided by the embodiment of the present application can include the following steps: Step S551, respectively determine the horizontal coordinate position and the vertical coordinate position of the midpoint of the front edge of the virtual parking space according to the corner point vector of the parking space.

[0060] Specifically, the horizontal coordinate position (x coordinate) and the vertical coordinate position (y coordinate) of the midpoint of the front edge of the virtual parking space are determined by the corner point vector of the virtual parking space. The midpoint of the front edge refers to the middle position of the front edge (determined by point a and point b) of the virtual parking space. This point is usually regarded as the reference point or starting point when the vehicle is parked. Horizontal coordinate (x coordinate): mid x =(pt_a.x+pt_b.x) / 2, vertical coordinate (y coordinate): mid y =(pt_a.y+pt_b.y) / 2.

[0061] Step S553, determine the adjustment amount of the vehicle parking according to the front overhang and wheelbase length and the parking distance.

[0062] Specifically, the adjustment amount is calculated according to the front overhang plus wheelbase length of the vehicle (i.e. the front overhang of the vehicle plus the wheelbase) and the distance from the virtual parking space when the vehicle is parked (parking distance). The front overhang of the vehicle refers to the horizontal distance from the center point of the front axle of the vehicle to the front end of the vehicle (i.e. the most forward point of the vehicle). The front overhang is the part of the vehicle that extends beyond the front axle and affects the approach angle and passability of the vehicle. The wheelbase refers to the horizontal distance between the center points of the front and rear axles on the same side of the vehicle. The wheelbase is an important parameter in vehicle design and affects the stability, handling, interior space, and overall driving performance of the vehicle. The sum of these two parameters, the "front overhang plus wheelbase length", refers to the total length from the center point of the front axle to the center point of the rear axle. This length is very important for the parking system because it determines the size of the space needed for the vehicle to park and the turning radius of the vehicle during parking. Adjustment amount = parking distance (front_dist) + front overhang plus wheelbase length (front_hang_to_rearaxle).

[0063] Step S555, according to the heading angle, determine the horizontal coordinate projection and vertical coordinate projection corresponding to the adjustment amount.

[0064] Specifically, the adjustment amount is calculated according to the heading angle (target_pos_heading) of the vehicle. Horizontal coordinate projection: proj x = adjustment amount x cos(target_pos_heading); Vertical coordinate projection: proj y = adjustment amount x sin(target_pos_heading).

[0065] Step S557, subtract the horizontal coordinate projection from the horizontal coordinate position to obtain the horizontal coordinate parking coordinate position of the target parking point, and subtract the vertical coordinate projection from the vertical coordinate position to obtain the vertical coordinate parking coordinate position of the target parking point.

[0066] Specifically, based on the projection values calculated above, the coordinates of the midpoint of the front edge of the virtual parking space are adjusted to determine the final parking position of the vehicle. By subtracting the projection values from the midpoint coordinates, the horizontal and vertical coordinates of the parking coordinate position of the target parking point can be obtained. The horizontal coordinate parking coordinate position of the target parking point target_pos_x = mid x -proj x , the vertical coordinate parking coordinate position of the target parking point target_pos_y = mid y -proj y .

[0067] The embodiment can accurately position the parking reference point by calculating the horizontal coordinate position and the vertical coordinate position of the midpoint of the front edge of the virtual storage location. Then, based on the front suspension and wheelbase length of the vehicle and the parking distance, the required parking adjustment amount is calculated, and further according to the heading angle, the horizontal and vertical coordinate projections of the adjustment amount are determined. Finally, by subtracting the projection value, the target parking coordinate position is obtained, so as to ensure that the vehicle can be accurately parked in the parking space in a non-marked environment. This process enables the vehicle to adapt to different parking environments, improves the parking efficiency and success rate, and accurately completes the parking operation even in a narrow space or lack of guidance.

[0068] Figure 8 The flowchart of step S57 provided by the embodiment of the present application can include the following steps: Step S571, according to the obstacles in the perception information, based on the preset path planning algorithm, determine the candidate path of the vehicle from the current position to the parking coordinate position; wherein the candidate path does not pass through the obstacles.

[0069] Specifically, the perception information refers to the environmental data collected by sensors such as radar, lidar, camera, etc. These information help the vehicle understand the surrounding obstacles, road conditions, other vehicles, etc. The perception information is the basis of the path planning algorithm, and the algorithm will identify and locate the obstacles based on these data. In the path planning process, the vehicle needs to update the perception information in real time to ensure that the dynamic changes of the obstacles (such as the movement of other vehicles, pedestrians, etc.) are considered in time. The preset path planning algorithm calculates one or more candidate paths according to the current vehicle's perception information and the parking coordinate position. The goal of the algorithm is to ensure that the path planning process does not conflict with the obstacles, so the algorithm must consider the position of the obstacles while selecting the appropriate path for expansion. In order to find a feasible path, the algorithm starts from the current position of the vehicle and searches the path in six directions (straight ahead, straight back, left turn ahead, left turn back, right turn ahead, right turn back) with a certain step size. If the path in a certain direction intersects with the obstacle, the algorithm will stop expanding along that direction and try other directions without collision. Through this method, the path search can avoid obstacles and try to maintain the continuity and effectiveness of the path until it successfully connects to the parking coordinate position.

[0070] Step S573, determine the path length of the candidate path.

[0071] Specifically, once the candidate paths are determined, the next step is to evaluate the feasibility and efficiency of each path. This is usually achieved by calculating the total length of each path. Path length refers to the distance from the current vehicle position to the parking coordinate position, reflecting the time and accuracy of parking. The calculation of path length is usually based on the accumulation of step length, and during the path expansion process, the distance from the starting point to the ending point (including the steps of turning and advancing / backing) is calculated.

[0072] At step S575, the path lengths are sorted, and the candidate path corresponding to the shortest path length is determined as the parking path.

[0073] Specifically, after the candidate paths are generated, they are sorted according to path length, and the shortest path is selected as the best parking path. The sorting algorithm can be based on simple comparison.

[0074] This embodiment ensures that the vehicle can smoothly reach the target parking position by identifying and avoiding obstacles in real time, thereby improving parking efficiency and success rate. By sorting the path lengths of the candidate paths and selecting the shortest path, not only the time and distance required for parking are reduced, but also multiple adjustments are avoided, improving the smoothness of the parking process.

[0075] Figure 9 The flowchart provided by the embodiment of the present application after determining the area range of the virtual storage location can include the following steps: At step S41, path pre-planning is performed using the area range of the virtual storage location, perception information, and positioning information.

[0076] Specifically, the area range of the virtual storage location defined by the user on the vehicle machine interaction interface is used, which is determined by the coordinates of the four corner points of the storage location. In combination with the perception information collected by the perception module of the vehicle, such as the position, size, and shape of the surrounding obstacles, to identify potential obstacles in the environment. Using the positioning information of the vehicle, the precise position of the vehicle in the environment is determined, which helps to calculate the path from the current position to the target position. According to these information, a suitable path planning algorithm (such as search-based algorithm, geometric algorithm, etc.) is used to calculate a preliminary path. This path is intended to be quickly generated and may not need to be completely accurate, but must ensure that it does not collide with obstacles and complies with the kinematic constraints of the vehicle.

[0077] At step S43, the vehicle machine information is updated according to the path pre-planning result, wherein the updating of the vehicle machine information includes: if the path pre-planning result is successful, generating an instruction prompting the user to confirm parking; if the path pre-planning result is failed, generating an instruction prompting the user to re-determine the area range of the virtual storage location until the path pre-planning result is successful.

[0078] Specifically, if the path pre-planning result is successful, i.e., a feasible path from the current position to the target parking position is calculated, a prompt is generated on the interactive interface to guide the user to confirm the parking operation. This is usually a confirmation button or instruction, and after the user clicks, the vehicle will start to perform the precise parking path planning based on step S5 and then automatically park. If the path pre-planning fails, i.e., a feasible path cannot be found, a prompt is generated on the interactive interface to guide the user to re-determine the area range of the virtual storage location. This may be due to the user-defined area range of the virtual storage location being unfeasible, or the environmental conditions (such as the position of obstacles) causing the safe path to be unable to be planned. The user needs to adjust the area range of the virtual storage location according to the prompt and then re-perform path pre-planning until a successful path is found. This feedback-based interaction mode can ensure quick response under different environmental conditions and help the user optimize the parking area through simple operations, thereby improving the parking success rate.

[0079] The embodiment determines the optimal parking path through path pre-planning, and then updates the vehicle information and provides feedback according to the path pre-planning result. If the path pre-planning is successful, the user is prompted to confirm parking; if it fails, the user is prompted to re-adjust the area range of the virtual storage location and re-plan until success. This process significantly improves the parking efficiency and success rate, ensures that the vehicle can smoothly park into the target parking space in a complex environment, avoids the interference of obstacles, and improves the safety and intelligent level of parking.

[0080] Correspondingly, please refer to Figure 10 A block diagram of a self-defined parking space parking device provided by the embodiment of the present application, the parking device comprising: The information input module 101 is configured to acquire chassis information representing a state of the vehicle, perception information representing obstacles around the vehicle, and positioning information representing a position of the vehicle; The storage location management module 103 is configured to determine an area range of a virtual storage location in response to vehicle information issued by the user; wherein the virtual storage location represents an area where the vehicle needs to be parked when parking; The path planning module 105 is configured to determine a parking path based on the chassis information, the perception information, and the positioning information in response to the area range of the virtual storage location; The behavior decision-making module 107 is configured to control the vehicle to automatically park into the virtual storage location according to the parking path and the chassis information.

[0081] In some optional embodiments, the vehicle information issued by the user includes a self-defined area operation performed by the user on the interactive interface, and the interactive interface displays a plurality of preset virtual frames; wherein the self-defined area operation includes a dragging and rotating operation; The storage location management module 103 comprises: According to the virtual frame selected by the user on the interactive interface, a target virtual frame is determined; According to the dragging and rotating operations of the user on the target virtual frame, a region range of the virtual storage location is determined.

[0082] In some optional embodiments, the path planning module 105 includes: In response to the region range of the virtual storage location, a storage location corner point vector corresponding to the virtual storage location is determined, and an orientation angle of the target parking point is determined according to the storage location corner point vector; According to the total length of the vehicle in the chassis information and the storage location corner point vector, a parking distance of the vehicle head position from the virtual storage location in the length direction is determined; According to the front overhang plus wheelbase length in the chassis information, the parking distance, and the orientation angle, a parking coordinate position of the target parking point is determined; and according to the current position of the vehicle in the positioning information, the parking coordinate position, and the obstacles in the perception information, a parking path is planned and determined.

[0083] In some optional embodiments, according to the total length of the vehicle in the chassis information and the storage location corner point vector, a parking distance of the vehicle head position from the virtual storage location in the length direction is determined, including: According to the long side vector of the virtual storage location in the length direction in the storage location corner point vector, an average length corresponding to the long side vector is determined; and a difference between the average length and the total length of the vehicle is determined; The difference is divided by a preset multiple to obtain the parking distance of the vehicle head position from the virtual storage location in the length direction.

[0084] In some optional embodiments, according to the front overhang plus wheelbase length in the chassis information, the parking distance, and the orientation angle, a parking coordinate position of the target parking point is determined, including: According to the storage location corner point vector, a horizontal coordinate position and a vertical coordinate position of the virtual storage location at the front edge midpoint are respectively determined; According to the front overhang plus wheelbase length and the parking distance, an adjustment amount of the vehicle parking is determined; According to the orientation angle, a horizontal coordinate projection and a vertical coordinate projection corresponding to the adjustment amount are determined; The horizontal coordinate position is subtracted by the horizontal coordinate projection to obtain a horizontal coordinate parking coordinate position of the target parking point, and the vertical coordinate position is subtracted by the vertical coordinate projection to obtain a vertical coordinate parking coordinate position of the target parking point.

[0085] In some optional embodiments, according to the current position of the vehicle in the positioning information, the parking coordinate position, and the obstacles in the perception information, a parking path is planned and determined, including: According to the obstacles in the perception information, a candidate path of the vehicle from the current position to the parking coordinate position is determined based on a preset path planning algorithm; wherein the candidate path does not pass through the obstacles; Determine the path length of the candidate paths; Sort the path lengths and determine the candidate path with the shortest path length as the parking path.

[0086] In some alternative implementations, after determining the area of ​​the virtual parking space, the parking device further includes: Path pre-planning is performed using the area range, sensing information, and location information of virtual storage locations; The vehicle information is updated based on the route pre-planning results. This updated vehicle information includes: If the route pre-planning result is successful, a command will be generated to prompt the user to confirm parking. If the path pre-planning result fails, an instruction will be generated prompting the user to re-determine the area of ​​the virtual storage location until the path pre-planning result is successful.

[0087] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0088] In this embodiment, a parking device for a custom parking space is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0089] Please see Figure 11 , Figure 11 This application provides a schematic diagram of the structure of a computer device, as shown in the embodiment of the present application. Figure 11 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 11 Take a processor 10 as an example.

[0090] The processor 10 can be a central processing unit, a network processing unit, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0091] The memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods illustrated in the above embodiments.

[0092] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required by at least one function, and the like. The data storage area can store data created according to the use of the computer device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid state storage device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely from the processor 10, which can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0093] The memory 20 can include a volatile memory such as a random access memory, and can further include a non-volatile memory such as a flash memory, a hard disk, or a solid state disk. The memory 20 can further include a combination of the above-mentioned types of memories.

[0094] The computer device further includes a communication interface 30 for communication of the computer device with other devices or communication networks.

[0095] The embodiments of the present application further provide a computer readable storage medium. The above-mentioned method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium originally through network downloading and then stored in a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can further include a combination of the above-mentioned types of memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method illustrated in the above embodiments is implemented.

[0096] The apparatus and modules illustrated in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0097] For the ease of description, the above apparatus is described in functions as various units and is described respectively. Of course, functions of the units can be implemented in one or more software and / or hardware in the implementation of the present application.

[0098] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, modules. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage etc.) including computer-usable program code.

[0099] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices and modules according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The function specified in one block or multiple blocks.

[0100] These computer program instructions can also be stored in a computer-readable memory capable of guiding the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices, which implement the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The function specified in one block or multiple blocks.

[0101] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 Figure 1

[0102] It should also be noted that the term "comprising" or "comprises" when used in this specification is taken to mean the inclusion of one or more steps or elements from any one of the embodiments, or any combination thereof, that are described using the term in the claim. It will be appreciated by persons skilled in the art that numerous variations and / or modifications can be made to the embodiments described herein. These modifications can include, but are not limited to, substituting any equivalent means for any of the means disclosed and changing the configuration of or substituting any of the steps of any of the methods disclosed. It is therefore intended that such modifications and variations be included within the scope of the claims.

[0103] Various embodiments of the present application are described herein with reference to the drawings. In general, the drawings are not drawn to scale. In the drawings, like reference numerals refer to like items in the various drawings. The embodiments of the present application can best be understood by referring to the following description in conjunction with the accompanying drawings in which:

[0104] The embodiments of the present application described above are merely exemplary implementations. It should be understood by those skilled in the art that various modifications, equivalent replacements and improvements can be made to the present application without departing from the spirit and scope of the present application. Any modification, equivalent replacement or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

[0105] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application. Such modifications and changes should be included in the scope of the appended claims.​​

Claims

1. A method of parking a vehicle in a self-defined parking space, characterized in that, The parking method comprises: obtaining chassis information for representing a vehicle state, perception information for representing obstacles around the vehicle, and positioning information for representing a vehicle position; in response to user-issued infotainment information, determining a region range of a virtual storage location; wherein the virtual storage location represents a region where the vehicle needs to be parked when parking; in response to the region range of the virtual storage location, determining a parking path based on the chassis information, the perception information, and the positioning information; controlling the vehicle to automatically park into the virtual storage location according to the parking path and the chassis information.

2. The parking method according to claim 1, characterized by, The user-issued infotainment information comprises a user's custom region operation on an interactive interface, and the interactive interface displays a plurality of preset virtual frames; wherein the custom region operation comprises a dragging and rotating operation; The determination of the region range of the virtual storage location comprises: determining a target virtual frame according to a virtual frame selected by the user on the interactive interface; determining the region range of the virtual storage location according to the dragging and rotating operation of the target virtual frame by the user.

3. The parking method according to claim 1, characterized by, The determination of the parking path based on the chassis information, the perception information, and the positioning information in response to the region range of the virtual storage location comprises: in response to the region range of the virtual storage location, determining a library location corner point vector corresponding to the virtual storage location, and determining an orientation angle of a target parking point according to the library location corner point vector; determining a parking distance of a vehicle head position from the virtual storage location in a length direction according to a total length of the vehicle in the chassis information and the library location corner point vector; determining a parking coordinate position of the target parking point according to a front overhang plus wheelbase length of the vehicle in the chassis information, the parking distance, and the orientation angle; planning and determining the parking path according to a current position of the vehicle in the positioning information, the parking coordinate position, and obstacles in the perception information.

4. The parking method according to claim 3, characterized by, The determination of the parking distance of the vehicle head position from the virtual storage location in the length direction according to the total length of the vehicle in the chassis information and the library location corner point vector comprises: determining an average length corresponding to a long side vector of the virtual storage location in the length direction according to the long side vector in the library location corner point vector; determining a difference value between the average length and the total length of the vehicle; dividing the difference value by a preset multiple to obtain the parking distance of the vehicle head position from the virtual storage location in the length direction.

5. The parking method according to claim 3, characterized by, The determination of the parking coordinate position of the target parking point according to the front overhang plus wheelbase length of the vehicle in the chassis information, the parking distance, and the orientation angle comprises: determining a horizontal coordinate position and a vertical coordinate position of a front edge midpoint of the virtual storage location according to the library location corner point vector, respectively; determining an adjustment amount of the vehicle parking according to the front overhang plus wheelbase length and the parking distance; determining a horizontal coordinate projection and a vertical coordinate projection corresponding to the adjustment amount according to the orientation angle; Subtracting the horizontal coordinate projection from the horizontal coordinate position, a horizontal coordinate parking coordinate position of the target parking point is obtained, and subtracting the vertical coordinate projection from the vertical coordinate position, a vertical coordinate parking coordinate position of the target parking point is obtained.

6. The parking method according to claim 3, characterized by, The planning and determination of the parking path according to the current position of the vehicle in the positioning information, the parking coordinate position and the obstacles in the perception information comprises: According to the obstacles in the perception information, a candidate path of the vehicle from the current position to the parking coordinate position is determined based on a preset path planning algorithm, wherein the candidate path does not pass through the obstacles; The path length of the candidate path is determined; The path lengths are sorted, and the candidate path corresponding to the shortest path length is determined as the parking path.

7. The parking method according to claim 1, characterized by, After the area range of the virtual storage location is determined, the parking method further comprises: Path pre-planning is performed using the area range of the virtual storage location, the perception information and the positioning information; The car machine information is updated according to the path pre-planning result, wherein the updating of the car machine information comprises: If the path pre-planning result is successful, an instruction prompting the user to confirm parking is generated; If the path pre-planning result is unsuccessful, an instruction prompting the user to re-determine the area range of the virtual storage location is generated until the path pre-planning result is successful.

8. A self-defined parking device for a parking space, characterized in that The parking device comprises: An information input module configured to acquire chassis information representing a state of a vehicle, perception information representing obstacles around the vehicle and positioning information representing a position of the vehicle; A storage location management module configured to determine an area range of a virtual storage location in response to car machine information issued by a user, wherein the virtual storage location represents an area where the vehicle needs to be parked when parking; A path planning module configured to determine a parking path based on the chassis information, the perception information and the positioning information in response to the area range of the virtual storage location; A behavior decision-making module configured to control the vehicle to automatically park into the virtual storage location according to the parking path and the chassis information.

9. A computer device, comprising: Comprise: A memory and a processor, which are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the self-defined parking space parking method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the self-defined parking space parking method in any one of claims 1 to 7.

Images