Parking position determination method and device, equipment and storage medium

Abstract

The application discloses a parking position determination method, device and equipment and a storage medium, and relates to the technical field of automatic driving. The parking position determination method comprises the following steps: dividing an image of a goods stacking area into a plurality of first grid areas of equal size; selecting at least one second grid area from the plurality of first grid areas, wherein the at least one second grid area does not belong to an obstacle and a transport vehicle can drive to the at least one second grid area from an entrance of the goods stacking area; and determining a corresponding position of the second grid area with the minimum parking cost value in the goods stacking area as a parking position of the transport vehicle, wherein the parking cost is determined by using at least one of a distance between the second grid area and a target working position and road surface information of the second grid area. The embodiment of the application can improve the efficiency and rationality of the parking position determination.

Description

Technical Field

[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a method, apparatus, device and storage medium for determining parking location. Background Technology

[0002] In the field of autonomous driving, parking trajectories are typically planned based on the vehicle's current location and specific information about the parking location, enabling the vehicle to park smoothly in the parking space.

[0003] In existing methods, in scenarios involving cargo loading and unloading, accurate boundary information of obstacles is typically used to identify areas where parking is not possible, and then the parking locations of transport vehicles are further determined based on these areas.

[0004] However, in complex areas with multiple obstacles, existing methods require calculating the boundary information of each obstacle and the spacing information between obstacles to determine the parking position of the transport vehicle, which is inefficient and unreliable. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for determining parking locations, which can improve the efficiency and rationality of parking location determination.

[0006] One aspect of this application provides a method for determining a parking location, including:

[0007] The image of the cargo stacking area is divided into multiple first grid regions of equal size;

[0008] Select at least one second grid area from multiple first grid areas that is not an obstacle and that can be reached by a transport vehicle from the entrance / exit of the cargo storage area;

[0009] The location of the second grid area with the lowest parking cost value in the cargo stacking area is determined as the parking location of the transport vehicle. The parking cost is determined using at least one of the following: the distance between the second grid area and the target working location, and the road surface information of the second grid area.

[0010] One aspect of this application provides a parking location determination device, comprising:

[0011] The region division module is used to divide the image of the cargo stacking area into multiple first grid regions of equal size;

[0012] The area filtering module is used to filter out at least one second grid area from multiple first grid areas that is not an obstacle and can be reached by a transport vehicle from the entrance / exit of the cargo stacking area.

[0013] The location determination module is used to determine the corresponding position of the second grid area with the minimum parking cost value in the cargo stacking area as the parking position of the transport vehicle. The parking cost is determined using at least one of the distance between the second grid area and the target working position and the road surface information of the second grid area.

[0014] In one aspect of this application, an electronic device is provided, the device including: a memory and a program or instructions stored in the memory and executable on a processor, wherein when the program or instructions are executed by the processor, they implement the parking position determination method provided in any aspect of the above-described embodiments of this application.

[0015] In one aspect of the embodiments of this application, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the parking position determination method provided in any aspect of the embodiments of this application described above.

[0016] The parking location determination method provided in this application first divides the image of the cargo stacking area into multiple equal-sized first grid regions. This allows for direct determination of whether a transport vehicle can smoothly pass through the corresponding location based on the size of the divided first grid regions. Then, by filtering the multiple first grid regions, at least one second grid region that is not an obstacle and can be reached by the transport vehicle from the entrance / exit of the cargo stacking area can be directly determined. This eliminates the need to calculate and determine the parking location based on the boundary information and spacing information of each obstacle, reducing computational load and improving the efficiency of parking location determination. Finally, the parking cost value of each second grid region is analyzed using the distance between the second grid region and the target working position, as well as the road surface information of the second grid region. The second grid region with the lowest parking cost value is determined as the parking location of the transport vehicle within the cargo stacking area, improving the rationality of the parking location. Thus, by dividing the image of the cargo stacking area into multiple first grid areas, and selecting the location corresponding to the second grid area that is not an obstacle location, can be reached by the transport vehicle, and has the lowest parking cost value from the multiple first grid areas as the parking location of the transport vehicle, the efficiency and rationality of the parking location determination can be improved. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a flowchart illustrating a method for determining a parking location according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the grid division of a cargo stacking area provided in one embodiment of this application;

[0020] Figure 3 This is a schematic diagram comparing a conventional parking position provided in one embodiment of this application with the parking position of this application;

[0021] Figure 4 This is a schematic diagram of the grid expansion search process provided in one embodiment of this application;

[0022] Figure 5 This is a schematic diagram illustrating the determination of the search starting point grid according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of heading angle sampling provided in one embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the structure of a parking position determination device provided in one embodiment of this application;

[0025] Figure 8 This is a schematic diagram of the structure of a parking location determination device provided in one embodiment of this application. Detailed Implementation

[0026] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0028] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations.

[0029] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0030] In related technologies, during cargo loading and unloading scenarios, accurate boundary information of obstacles is typically used to identify areas where parking is impossible. These areas are then further filtered to determine the parking location for the transport vehicle. However, in complex areas with multiple obstacles, existing methods require calculating the boundary information of each obstacle and the spacing between them to determine the parking location. This results in low efficiency and poor accuracy in determining the parking location.

[0031] The purpose of this application is to provide a method, apparatus, device, and storage medium for determining parking locations. The method for determining parking locations provided in this application first divides the image of a cargo stacking area into multiple equal-sized first grid regions. This allows for direct determination of whether a transport vehicle can smoothly pass through the corresponding location based on the size of the divided first grid regions. Then, by filtering the multiple first grid regions, at least one second grid region that is not an obstacle and can be reached by the transport vehicle from the entrance / exit of the cargo stacking area can be directly determined. This eliminates the need to calculate and determine the parking location based on the boundary information and spacing information of each obstacle, reducing computational load and improving the efficiency of parking location determination. Finally, the parking cost value of each second grid region is analyzed using the distance between the second grid region and the target working position, as well as the road surface information of the second grid region. The second grid region with the lowest parking cost value is determined as the parking location of the transport vehicle within the cargo stacking area, improving the rationality of the parking location. Thus, by dividing the image of the cargo stacking area into multiple first grid areas, and selecting the location corresponding to the second grid area that is not an obstacle location, can be reached by the transport vehicle, and has the lowest parking cost value from the multiple first grid areas as the parking location of the transport vehicle, the efficiency and rationality of the parking location determination can be improved.

[0032] The following describes specific embodiments of the parking location determination method, apparatus, device, and storage medium provided in this application. The parking location determination method will be described first.

[0033] Figure 1 A flowchart illustrating a method for determining a parking location is provided. This method is applied to transport vehicles and may include the following steps S101 to S103.

[0034] S101, the image of the cargo stacking area is divided into multiple first grid regions of equal size.

[0035] In this embodiment, the cargo stacking area is an area used to stack cargo. For example, the cargo may be minerals or building materials.

[0036] The image of the goods stacking area can be divided into multiple first grid regions according to a preset grid precision. The specific size of the preset grid precision is not limited, and the length of the grid in the x-axis and y-axis dimensions can be the same or different.

[0037] For example, if the grid precision is the same in both the x-axis and y-axis dimensions, the grid precision can be preset to be the width of the transport vehicle in both the x-axis and y-axis dimensions.

[0038] When the grid precision is different in length along the x-axis and y-axis, the grid precision can be preset to: the length along the x-axis is the width of the transport vehicle, and the length along the y-axis is the length of the transport vehicle.

[0039] As an example, the electronic equipment of the transport vehicle first acquires an image of the cargo stacking area in real time, and then divides the image of the cargo stacking area into multiple 2D first grid regions according to a preset grid precision where the length on the x-axis and y-axis is the width of the transport vehicle.

[0040] In this process, each of the final first grid regions is of equal size, and its length on both the x-axis and y-axis is equal to the width of the transport vehicle.

[0041] like Figure 2 The diagram illustrates a grid division of a goods stacking area. The goods stacking area can be a regular or irregular shape. The resulting multiple first grid areas can cover the entire goods stacking area. Figure 2 The grids in the cargo stacking area obtained are the first grid areas.

[0042] S102, selecting from multiple first grid areas a location that is not an obstacle and that a transport vehicle can reach from the entrance / exit of the cargo storage area at least one second grid area.

[0043] In this embodiment, obstacles may include stacked goods and parked vehicles.

[0044] As an example, the electronic equipment of the transport vehicle first acquires obstacle information, then determines the first grid area where the obstacle is located based on the acquired obstacle information, and then filters out the first grid area where the obstacle is located.

[0045] Further, it is determined whether the transport vehicle can travel from the entrance / exit of the cargo storage area to reach the remaining first grid areas after screening. The first grid areas that the transport vehicle cannot reach are further screened out to obtain at least one second grid area.

[0046] Specifically, when there are multiple stacked goods, the number of first grid areas between two stacked goods can be used to determine whether a transport vehicle can pass smoothly.

[0047] For example, if the length on the x-axis of the preset grid precision is the width of the transport vehicle, it is determined that the transport vehicle can pass through smoothly if there is a first grid area between two stacked goods; if there is no first grid area between two stacked goods, it is determined that the transport vehicle cannot pass through smoothly.

[0048] S103, the corresponding position of the second grid area with the minimum parking cost value in the cargo stacking area is determined as the parking position of the transport vehicle. The parking cost is determined using at least one of the distance between the second grid area and the target working position and the road surface information of the second grid area.

[0049] In this embodiment, the parking cost value is used to evaluate the parking reliability of the second grid area. The smaller the parking cost value, the higher the parking reliability of the second grid area; the larger the parking cost value, the lower the parking reliability of the second grid area.

[0050] The target working location is a preset location corresponding to the working attributes of the transport vehicle. The working attributes of the transport vehicle include unloading and loading goods.

[0051] As an example, the distance between the second grid area and the target working position can be directly determined as the parking cost value. A larger distance between the second grid area and the target working position results in a larger parking cost value; a smaller distance results in a smaller parking cost value.

[0052] Specifically, the target working position is first determined based on the working attributes of the transport vehicle. Then, the distance between each second grid area and the target working position is calculated, and finally, the second grid area with the smallest distance is determined as the parking position of the transport vehicle.

[0053] As another example, such as Figure 3 The diagram illustrates a comparison between a conventional parking location and the parking location described in this application. The conventional parking location refers to a pre-defined parking space, while the parking location described in this application is an adaptive parking space determined based on the position of the already stacked minerals within the mineral storage area, facilitating the dumping or loading of mineral materials.

[0054] In this embodiment, the image of the cargo stacking area is first divided into multiple equal-sized first grid regions. This allows for direct determination of whether a transport vehicle can smoothly pass through a corresponding location based on the size of the first grid regions. Then, by filtering these first grid regions, at least one second grid region that is not an obstacle and can be reached by the transport vehicle from the entrance / exit of the cargo stacking area can be directly identified. This eliminates the need to calculate parking locations based on obstacle boundary information and the spacing between obstacles, reducing computational load and improving parking location determination efficiency. Finally, the parking cost value of each second grid region is analyzed using the distance between the second grid region and the target working position, as well as road surface information. The second grid region with the lowest parking cost value is then identified as the parking location for the transport vehicle within the cargo stacking area, improving the rationality of the parking location. Thus, by dividing the image of the cargo stacking area into multiple first grid areas, and selecting the location corresponding to the second grid area that is not an obstacle location, can be reached by the transport vehicle, and has the lowest parking cost value from the multiple first grid areas as the parking location of the transport vehicle, the efficiency and rationality of the parking location determination can be improved.

[0055] As an optional embodiment, S102 may specifically include:

[0056] The search starting grid is determined from multiple first grid regions and stored in the first set. The search starting grid is any grid region in each first grid region that is not an obstacle location and can be reached by a transport vehicle from the entrance and exit of the cargo stacking area.

[0057] The search is performed outward from the starting grid to obtain multiple first grid regions adjacent to the starting grid.

[0058] Third grid regions that are not obstacle locations and do not belong to the first set from multiple first grid regions adjacent to the search starting grid are stored in the first set and the second set;

[0059] If the second set is not empty, the grid region with the smallest distance from the starting grid of the search is determined as the target search grid in each third grid region, and the target search grid is removed from the second set. Then, the grid expansion search is performed from the target search grid outward to obtain multiple first grid regions adjacent to the target search grid.

[0060] If the second set is empty, end the grid expansion search and determine each grid region included in the first set as the second grid region.

[0061] In this embodiment, the search starting grid is the starting position for performing grid expansion search.

[0062] The first set is used to store the second grid area, which is all the grid areas that are not obstacles and that can be reached by transport vehicles from the entrance and exit of the cargo stacking area. The first set is initialized to empty.

[0063] The second set is used to store the third grid regions that have not yet undergone grid expansion search. The second set is initialized to empty.

[0064] As an example, such as Figure 4 The diagram illustrates a process for grid-based extended search. First, step S401 determines the starting grid from multiple first grid regions. The starting grid is any first grid region that is not an obstacle location and can be reached by a transport vehicle from the entrance / exit of the cargo storage area.

[0065] Then, starting from the search starting grid, the search is expanded outwards via S402. Each time the search is expanded, the grid is expanded in eight directions to obtain eight adjacent first grid regions.

[0066] Then, S403 determines whether the eight adjacent first grid regions obtained by expansion overlap with the obstacle position, whether they exceed the boundary of the cargo stacking area, and whether they belong to the first set. The first grid regions that are all negative are determined as the third grid regions and stored in the first set and the second set.

[0067] Then, S404 determines whether the second set is empty. If the second set is empty, the grid expansion search ends directly through S406.

[0068] If the second set is not empty, then S405 calculates the distance between each third grid region in the second set and the starting grid of the search, selects the third grid region with the smallest distance as the target search grid, then deletes the target search grid from the second set, and returns to S402 to start the next round of grid expansion search from the target search grid to the surrounding area, until the second set is empty and the grid expansion search ends.

[0069] As another example, such as Figure 5 The diagram illustrates the determination of the search starting grid. To facilitate easy access to and from the parking area formed by the cargo stacking area after loading and unloading, we can select the first grid area with the smallest distance from the transport road as the search starting grid. The search is then expanded within the parking area using this starting grid as the search origin.

[0070] In this embodiment, a search starting grid is determined in multiple first grid areas, and the grid expansion search is performed outward from the starting grid. Through the grid expansion search, each second grid area in the cargo stacking area can be accurately obtained, which helps to accurately determine the parking position of the transport vehicle in the subsequent second grid areas.

[0071] As an optional embodiment, prior to S103, the method for determining the parking location may further include:

[0072] Obtain the target working location corresponding to the working attributes of the transport vehicle;

[0073] The distance between the second grid region and the target working position is determined as the cost of the second grid region;

[0074] The parking cost value of the second grid area is obtained by correcting the cost value of the second grid area using the road surface information of the second grid area.

[0075] In this embodiment, the parking cost value is used to evaluate the parking reliability of the second grid area. The smaller the parking cost value, the higher the parking reliability of the second grid area; the larger the parking cost value, the lower the parking reliability of the second grid area.

[0076] The target working location is a preset location corresponding to the working attributes of the transport vehicle. The working attributes of the transport vehicle include unloading and loading goods.

[0077] The road surface information of the second grid area is used to characterize the road surface conditions of a specific location within the corresponding cargo stacking area. For example, the road surface information of the second grid area can be divided into three road surface levels based on the specific road surface conditions, with each level corresponding to a preset weight.

[0078] The first level represents good road conditions, the second level represents road conditions with minor slopes and uneven surfaces that have a minor impact on parking, and the third level represents road conditions with a significant impact on parking due to extreme conditions such as large slopes and large potholes.

[0079] As an example, first determine the corresponding target working location based on the working attributes of the transport vehicle. Then calculate the distance between the second grid area and the target working location to obtain the value of the second grid area.

[0080] Then, obtain the road surface information of the second grid area, determine the corresponding road surface level based on the road surface information of the second grid area, and obtain the weight corresponding to the road surface level.

[0081] Finally, the cost value of the second grid area is multiplied by the weight corresponding to the road surface grade to obtain the parking cost value of the second grid area.

[0082] This embodiment considers both distance and road conditions. By analyzing the distance between the second grid area and the target working position, as well as the road information of the second grid area, the parking cost value of each second grid area is analyzed. Finally, the corresponding position of the second grid area with the lowest parking cost value in the cargo stacking area is determined as the parking position of the transport vehicle, thereby improving the rationality of the parking position determination.

[0083] As an optional embodiment, the target working location is one of the cargo loading location and the cargo unloading location;

[0084] Obtain the target work location corresponding to the work attributes of the transport vehicle, which may specifically include:

[0085] When the working attribute of the transport vehicle is unloading goods, the point with the greatest distance from the entrance and exit of the goods stacking area is determined as the unloading location.

[0086] When the working attribute of a transport vehicle is to load goods, the location of the goods loading machine is determined as the goods loading location.

[0087] In this embodiment, the working attributes of the transport vehicle include two types: unloading cargo and loading cargo.

[0088] When the transport vehicle's function is to unload goods, the starting point of the goods stacking can be used as the unloading location. To ensure orderly and concentrated stacking, the starting point can be chosen as the point furthest from the exit of the goods stacking area. Therefore, when the transport vehicle's function is to unload goods, the point furthest from the entrance / exit of the goods stacking area is determined as the unloading location.

[0089] When the transport vehicle's working attribute is loading goods, in order to ensure the smooth progress of the loading operation, the location of the cargo loading machine can be selected as the cargo loading position. The cargo loading machine can be an excavator.

[0090] This embodiment determines the target working location corresponding to the working attributes of the transport vehicle. This facilitates the subsequent selection of the transport vehicle's parking location based on the target working location, thus linking the transport vehicle's parking location with its work and contributing to the smooth operation of the transport vehicle.

[0091] As an optional embodiment, prior to S103, the method for determining the parking location may further include:

[0092] From each second grid region, select at least one alternative parking area that is adjacent to the grid region where goods have been stacked;

[0093] S103 may specifically include:

[0094] The location of the alternative parking area with the lowest parking cost in the cargo stacking area is determined as the parking location for the transport vehicle.

[0095] In this embodiment, after selecting the second grid area from the first grid area, the second grid area can be further filtered to obtain at least one alternative parking area in the second grid area that is adjacent to the grid area where the stacked goods are located.

[0096] Then, the parking cost value of each alternative parking area is calculated, and finally, the alternative parking area with the lowest parking cost value is determined as the parking location for the transport vehicle.

[0097] In this embodiment, the second grid area is further filtered to obtain candidate parking areas, and then the parking location of the transport vehicle is selected from these candidate parking areas. By further filtering candidate parking areas within the second grid area, the parking location of the transport vehicle can be accurately determined simply by calculating the parking cost value of each candidate parking area. It eliminates the need to calculate the parking cost values ​​of all other second grid areas besides the candidate parking areas, thus reducing the computational workload of parking cost values ​​and improving the efficiency of parking location determination.

[0098] As an optional embodiment, after S103, the method for determining the parking location may further include:

[0099] Within a preset angle range on both sides of the target line, the heading angle is sampled sequentially at a preset sampling interval to obtain a set of heading angles. The target line is the line connecting the target working position and the parking position of the transport vehicle.

[0100] The parking heading angles that meet the parking conditions are selected from the set of heading angles. The parking condition is that the transport vehicle will not collide when it parks at the parking position according to the heading angle.

[0101] In this embodiment, the parking heading angle is the heading angle of the transport vehicle when it is parked at the parking position.

[0102] As an example, such as Figure 6 The diagram illustrates a heading angle sampling method. Specifically, a target line is first constructed based on the target working position and the determined parking position of the transport vehicle.

[0103] Then, within a preset angle range on both sides of the target line, the heading angle is sampled sequentially at a preset sampling interval to obtain a heading angle set. For example, within a 90-degree angle range on both sides of the target line, sampling can be performed every 10 degrees to obtain the heading angle set.

[0104] Then, the heading angles sampled in the heading angle set are traversed in ascending order to determine whether a collision will occur when the transport vehicle parks at the parking position according to the heading angle. If no collision occurs, the heading angle is determined as the parking heading angle.

[0105] For example, when there are multiple parking heading angles, you can choose any one of them as the final heading angle for parking, or you can choose the parking heading angle with the smallest angle as the final heading angle for parking.

[0106] In this embodiment, under complex parking conditions, the heading angle is sampled sequentially within a preset angle range on both sides of the target line at preset sampling intervals to obtain a heading angle set. Finally, a parking heading angle suitable for safe parking is selected from this set. Thus, this embodiment further filters parking heading angles in complex parking environments, thereby improving parking safety.

[0107] As an optional embodiment, after selecting parking heading angles that meet the parking conditions from the set of heading angles, the method for determining the parking location may further include:

[0108] Obtain the current location of the transport vehicle and its drivable area;

[0109] Using the current location of the transport vehicle, the drivable area of ​​the transport vehicle, the parking location of the transport vehicle, and the parking heading angle, parking route information is generated;

[0110] Send control commands to the transport vehicle; these commands are used to indicate parking route information.

[0111] In this embodiment, the drivable area of ​​the transport vehicle is the area through which the transport vehicle can travel from its current location to the parking location, and the drivable area includes the cargo stacking area.

[0112] Control commands are used to control the movement of transport vehicles according to parking path information.

[0113] As an example, the current location of the transport vehicle and its drivable area are first determined by location.

[0114] Then, using the current position of the transport vehicle as the starting point and the parking position of the transport vehicle as the ending point, the driving area of ​​the transport vehicle is used to calculate and generate parking path information that allows the transport vehicle to smoothly drive from its current position to its parking position and park according to the parking heading angle without exceeding the driving area of ​​the transport vehicle.

[0115] Then, the parking path information is used to plan the speed of the parking path to obtain the driving speed information, and control commands are generated based on the driving speed information and the parking path information.

[0116] Finally, control commands are output to the transport vehicle, enabling it to safely drive to its parking position according to the driving speed and parking path information, thus completing automatic parking.

[0117] This embodiment generates parking path information based on the current location of the transport vehicle, the drivable area of ​​the transport vehicle, the parking position of the transport vehicle, and the parking heading angle. This helps the transport vehicle to safely achieve automatic parking according to the parking path information, thereby improving the reliability of automatic parking.

[0118] A method for determining parking location. Accordingly, this application also provides specific embodiments of a device for determining parking location.

[0119] like Figure 7 As shown, the parking location determination device provided in this application embodiment includes an area division module 710, an area filtering module 720, and a location determination module 730.

[0120] The region division module 710 is used to divide the image of the cargo stacking area into multiple first grid regions of equal size.

[0121] The area filtering module 720 is used to filter out at least one second grid area from a plurality of first grid areas that is not an obstacle and that a transport vehicle can reach from the entrance or exit of the cargo stacking area.

[0122] The location determination module 730 is used to determine the corresponding position of the second grid area with the minimum parking cost value in the cargo stacking area as the parking position of the transport vehicle. The parking cost is determined using at least one of the distance between the second grid area and the target working position and the road surface information of the second grid area.

[0123] In this embodiment, the image of the cargo stacking area is first divided into multiple equal-sized first grid regions. This allows for direct determination of whether a transport vehicle can smoothly pass through a corresponding location based on the size of the first grid regions. Then, by filtering these first grid regions, at least one second grid region that is not an obstacle and can be reached by the transport vehicle from the entrance / exit of the cargo stacking area can be directly identified. This eliminates the need to calculate parking locations based on obstacle boundary information and the spacing between obstacles, reducing computational load and improving parking location determination efficiency. Finally, the parking cost value of each second grid region is analyzed using the distance between the second grid region and the target working position, as well as road surface information. The second grid region with the lowest parking cost value is then identified as the parking location for the transport vehicle within the cargo stacking area, improving the rationality of the parking location. Thus, by dividing the image of the cargo stacking area into multiple first grid areas, and selecting the location corresponding to the second grid area that is not an obstacle location, can be reached by the transport vehicle, and has the lowest parking cost value from the multiple first grid areas as the parking location of the transport vehicle, the efficiency and rationality of the parking location determination can be improved.

[0124] As an optional embodiment, the region filtering module 720 specifically includes the following units:

[0125] The starting point determination unit is used to determine the search starting point grid from multiple first grid regions and store the search starting point grid in the first set. The search starting point grid is any grid region in each first grid region that is not an obstacle location and can be reached by a transport vehicle from the entrance and exit of the cargo stacking area.

[0126] A grid search unit is used to perform a grid expansion search outward from the starting grid to obtain multiple first grid regions adjacent to the starting grid.

[0127] A grid storage unit is used to store third grid regions that are not obstacle locations and do not belong to the first set from multiple first grid regions adjacent to the search starting grid into the first set and the second set;

[0128] The loop execution unit is used to determine the grid region with the smallest distance from the search starting grid in each third grid region as the target search grid when the second set is not empty, and remove the target search grid from the second set. Then, it returns to execute the grid expansion search from the target search grid outward to obtain multiple first grid regions adjacent to the target search grid.

[0129] The loop termination unit is used to end the grid expansion search when the second set is empty, and to determine each grid region included in the first set as the second grid region.

[0130] As an optional embodiment, the parking location determination device may further include the following modules:

[0131] The location acquisition module is used to acquire the target working location corresponding to the working attributes of the transport vehicle;

[0132] The cost value determination module is used to determine the distance between the second grid area and the target working position as the cost value of the second grid area;

[0133] The cost value determination module is used to correct the cost value of the second grid area using the road surface information of the second grid area, so as to obtain the parking cost value of the second grid area.

[0134] As an optional embodiment, the target working location is one of the cargo loading location and the cargo unloading location;

[0135] The location acquisition module specifically includes the following units:

[0136] The location determination unit is used to determine the point with the greatest distance from the entrance and exit of the cargo stacking area as the cargo unloading location when the working attribute of the transport vehicle is unloading cargo.

[0137] The location determination unit is also used to determine the location of the cargo loading machine as the cargo loading location when the working attribute of the transport vehicle is loading cargo.

[0138] As an optional embodiment, the parking location determination device may further include the following modules:

[0139] The alternative screening module is used to select at least one alternative parking area from each second grid area that is adjacent to the grid area where goods have been stacked.

[0140] The location determination module 730 is specifically used for:

[0141] The location of the alternative parking area with the lowest parking cost in the cargo stacking area is determined as the parking location for the transport vehicle.

[0142] As an optional embodiment, the parking location determination device may further include the following modules:

[0143] The heading angle sampling module is used to sample the heading angle sequentially within a preset angle range on both sides of the target connection line according to a preset sampling interval, so as to obtain a set of heading angles. The target connection line is the line connecting the target working position and the parking position of the transport vehicle.

[0144] The heading angle filtering module is used to filter the heading angles from the heading angle set to obtain parking heading angles that meet the parking conditions. The parking conditions are that the transport vehicle will not collide when parking at the parking position according to the heading angle.

[0145] As an optional embodiment, the parking location determination device may further include the following modules:

[0146] The information acquisition module is used to acquire the current location of the transport vehicle and the area where the transport vehicle can travel.

[0147] The route generation module is used to generate parking route information using the current location of the transport vehicle, the drivable area of ​​the transport vehicle, the parking location of the transport vehicle, and the parking heading angle.

[0148] A command sending module is used to send control commands to the transport vehicle, the control commands indicating parking route information. A method for determining the parking location is also provided. Accordingly, this application also provides specific embodiments of a parking location determination device.

[0149] Figure 8 A schematic diagram of the hardware structure of the parking location determination device provided in an embodiment of this application is shown.

[0150] The device for determining the parking location may include a processor 801 and a memory 802 storing computer program instructions.

[0151] Specifically, the processor 801 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0152] Memory 802 may include mass storage for data or instructions. For example, and not limitingly, memory 802 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 802 may include removable or non-removable (or fixed) media. Where appropriate, memory 802 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 802 is non-volatile solid-state memory.

[0153] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0154] The processor 801 reads and executes computer program instructions stored in the memory 802 to implement any of the parking location determination methods in the above embodiments.

[0155] In one example, the parking location determination device may further include a communication interface 803 and a bus 810. For example, Figure 8 As shown, the processor 801, memory 802, and communication interface 803 are connected through bus 810 and complete communication with each other.

[0156] The communication interface 803 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0157] Bus 810 includes hardware, software, or both, that couples components of a device at a defined parking location together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 810 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0158] Furthermore, in conjunction with the parking location determination method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the parking location determination methods in the above embodiments.

[0159] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0160] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0161] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0162] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0163] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for determining a parking location, characterized in that, Applied to transport vehicles, the method includes: The image of the cargo stacking area is divided into multiple first grid regions of equal size; At least one second grid area is selected from multiple first grid areas that is not an obstacle and that the transport vehicle can reach from the entrance / exit of the cargo stacking area; The location of the second grid area with the lowest parking cost value in the cargo stacking area is determined as the parking location of the transport vehicle. The parking cost is determined using at least one of the distance between the second grid area and the target working location and the road surface information of the second grid area. Before determining the location of the second grid area with the lowest parking cost in the cargo stacking area as the parking location for the transport vehicle, the method further includes: From each of the second grid regions, select at least one alternative parking area that is adjacent to the grid region where goods have been stacked; The step of determining the parking location of the transport vehicle as the corresponding position of the second grid area with the lowest parking cost value in the cargo stacking area includes: The location of the alternative parking area with the lowest parking cost in the cargo stacking area is determined as the parking location for the transport vehicle.

2. The method according to claim 1, characterized in that, The step of selecting at least one second grid area from the plurality of first grid areas that is not an obstacle location and that the transport vehicle can reach from the entrance / exit of the cargo stacking area includes: A search starting grid is determined from the plurality of first grid regions and stored in a first set. The search starting grid is any grid region in each of the first grid regions that is not an obstacle location and that the transport vehicle can reach from the entrance and exit of the cargo stacking area. A grid expansion search is performed outward from the starting search grid to obtain multiple first grid regions adjacent to the starting search grid; The third grid regions that are not located at the obstacle location and are not part of the first set, which are among the multiple first grid regions adjacent to the search starting grid, are stored in the first set and the second set; If the second set is not empty, the grid region with the smallest distance from the search starting grid in each of the third grid regions is determined as the target search grid, and the target search grid is deleted from the second set. Then, the grid expansion search is performed from the target search grid outward to obtain multiple first grid regions adjacent to the target search grid. If the second set is empty, the grid expansion search ends, and each grid region included in the first set is determined as the second grid region.

3. The method according to claim 1, characterized in that, Before determining the location of the second grid area with the lowest parking cost in the cargo stacking area as the parking location for the transport vehicle, the method further includes: Obtain the target working position corresponding to the working attributes of the transport vehicle; The distance between the second grid region and the target working position is determined as the cost of the second grid region; The cost value of the second grid area is corrected by using the road surface information of the second grid area to obtain the parking cost value of the second grid area.

4. The method according to claim 3, characterized in that, The target working position is one of the cargo loading position and the cargo unloading position; The step of obtaining the target working location corresponding to the working attributes of the transport vehicle includes: When the working attribute of the transport vehicle is unloading goods, the point with the largest distance from the entrance and exit of the goods stacking area is determined as the goods unloading location; When the working attribute of the transport vehicle is to load goods, the location of the goods loading machine is determined as the goods loading location.

5. The method according to any one of claims 1-4, characterized in that, After determining the location of the second grid area with the lowest parking cost in the cargo stacking area as the parking location for the transport vehicle, the method further includes: Within a preset angle range on both sides of the target line, the heading angle is sampled sequentially at a preset sampling interval to obtain a set of heading angles. The target line is the line connecting the target working position and the parking position of the transport vehicle. Parking heading angles that meet the parking conditions are selected from the set of heading angles, wherein the parking conditions are that the transport vehicle will not collide when it parks at the parking position according to the heading angle.

6. The method according to claim 5, characterized in that, After selecting the parking heading angles that meet the parking conditions from the set of heading angles, the method further includes: Obtain the current location of the transport vehicle and the drivable area of ​​the transport vehicle; Using the current location of the transport vehicle, the drivable area of ​​the transport vehicle, the parking location of the transport vehicle, and the parking heading angle, parking path information is generated; A control command is sent to the transport vehicle, the control command being used to indicate the parking route information.

7. A device for determining a parking location, characterized in that, Applied to transport vehicles, the device includes: The region division module is used to divide the image of the cargo stacking area into multiple first grid regions of equal size; The area filtering module is used to filter out at least one second grid area from multiple first grid areas that is not an obstacle and that the transport vehicle can reach from the entrance and exit of the cargo stacking area. The location determination module is used to determine the corresponding position of the second grid area with the lowest parking cost value in the cargo stacking area as the parking position of the transport vehicle. The parking cost is determined using at least one of the distance between the second grid area and the target working position and the road surface information of the second grid area. The alternative screening module is used to select at least one alternative parking area from each of the second grid areas that is adjacent to the grid area where the goods have been stacked. The location determination module is specifically used to determine the corresponding location of the alternative parking area with the lowest parking cost value in the cargo stacking area as the parking location for the transport vehicle.

8. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the parking location determination method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the parking location determination method as described in any one of claims 1-6.

Images