Parking method and device and new energy automobile
By acquiring real-time data on vehicles and pedestrians, constructing driving conditions, coordinating the relative positions of vehicles and pedestrians, and planning movement trajectories to avoid pedestrians, the problem of existing technologies failing to effectively consider pedestrian movement trajectories is solved, thus achieving safe and accurate automatic parking.
Patent Information
- Application Number
- CN202511620659.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-06
- Publication Date
- 2026-01-23
AI Technical Summary
Existing automatic parking technology fails to effectively consider pedestrian movement patterns when searching for parking spaces, leading to safety hazards and affecting the accuracy and efficiency of the parking process.
By acquiring real-time data on vehicles and pedestrians, driving conditions are constructed, the relative positions of vehicles and pedestrians are coordinated, movement trajectories to avoid pedestrians are planned, and pedestrian crossing time is reserved, thus achieving safe and accurate automatic parking.
It reduces vehicle pauses or stops during parking, improves parking safety and efficiency, and avoids the impact of pedestrian movement on parking.
Smart Images
Figure CN121375752A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of automatic parking, in particular to a parking method, device, new energy vehicle and electronic device. BACKGROUND
[0002] Automatic parking technology has been increasingly applied in actual parking scenarios. A vehicle searches for a surrounding space suitable for parking as a parking space by sensing surrounding space information of the vehicle through a panoramic camera and an ultrasonic radar and the like, and automatically controls the vehicle to park into the parking space through path planning after selecting the parking space, so that the parking process becomes more easy and safe.
[0003] The prior art usually needs to consider actual parking scenarios to conduct actual tests when formulating a parking function. However, the vehicle needs to travel to a parking-in point at a specified speed and path when searching for a parking space in the parking process, and needs to maintain a certain relative motion position with a pedestrian or an obstacle that interferes in the process. The prior art usually does not consider the motion trajectory of the pedestrian, but only pauses parking when the pedestrian is captured by a camera, which still has certain safety hazards. Meanwhile, pausing in the parking process also affects the accuracy and efficiency of parking. SUMMARY
[0004] The present application aims to provide a parking method, device, new energy vehicle and electronic device, which can realize fast and accurate automatic parking, reduce the pause or stay of the vehicle in the parking process, and take the motion of the pedestrian into account in the parking process to reserve time for the pedestrian to pass through and avoid safety hazards.
[0005] In a first aspect, an embodiment of the present application provides a parking method, which comprises: obtaining first real-time data of a vehicle and second real-time data of a pedestrian around the vehicle, wherein the first real-time data comprises a driving trajectory and speed information, and the second real-time data comprises a pedestrian motion trajectory and speed information; performing coordinated control of the vehicle and the pedestrian according to the first real-time data and the second real-time data to obtain relative position data of the vehicle and the pedestrian; constructing a driving condition according to the relative position data; searching for a target parking space in the driving condition; controlling the vehicle to park into the target parking space.
[0006] In the implementation process, the relative position between the vehicle and the pedestrian is obtained according to the first real-time data and the second real-time data, the driving condition is constructed according to the relative position, and then the target parking space is searched for parking, so that the automatic parking can be realized quickly and accurately, the suspension or stay of the vehicle in the parking process is reduced, the movement of the pedestrian in the parking process is considered, the time for the pedestrian to pass through is reserved, and the safety hidden danger is avoided.
[0007] Further, the step of constructing the driving condition according to the relative position data comprises: obtaining a potential movement trajectory of the pedestrian according to the second real-time data and the relative position data; planning the driving condition of the vehicle according to the potential movement trajectory, and constructing the driving condition for avoiding the potential movement trajectory of the pedestrian.
[0008] In the implementation process, the driving condition of the vehicle is planned according to the potential movement trajectory of the pedestrian, so that the possible and feasible driving path of the vehicle can be planned in advance before the vehicle parks, and data support is provided for accurate parking of the vehicle.
[0009] Further, after the step of searching for the target parking space in the driving condition, the method further comprises: After the target parking space is determined, relative position data of the target parking space and the vehicle is obtained.
[0010] In the implementation process, after the target parking space is determined, the relative position data of the target parking space and the vehicle is obtained, so that the vehicle can be better parked in the target parking space, and the possibility of collision or rubbing is reduced.
[0011] Further, the step of controlling the vehicle to park in the target parking space comprises: controlling the vehicle to drive to a first parking position according to the relative position data of the target parking space and the vehicle; controlling the vehicle to drive to a second parking position from the first parking position; obtaining relative position data of the pedestrian and the target parking space when the vehicle is in the second parking position; controlling the vehicle to park in the target parking space according to the relative position data of the pedestrian and the target parking space.
[0012] In the implementation process, the movement trajectory of the pedestrian is predicted according to the relative position data of the pedestrian and the target parking space, so that the pedestrian is prevented from moving to the target parking space during the parking process to affect the parking, and the safety of the parking can be improved.
[0013] Further, the step of controlling the vehicle to park in the target parking space according to the relative position data of the pedestrian and the target parking space comprises: obtaining a first time range of the vehicle driving into the target parking space; obtaining a second time range of the pedestrian moving to a preset area; comparing the first time range and the second time range to obtain a comparison result; controlling the vehicle to park in the target parking space according to the comparison result.
[0014] In the above implementation process, the first time range of the vehicle driving into the target parking space and the second time range of the pedestrian moving to the preset area are compared, more time and space are reserved for the movement of the pedestrian, and the conflict between the parking process of the vehicle and the movement process of the pedestrian is avoided.
[0015] Further, the step of obtaining the first time range of the vehicle driving into the target parking space comprises: obtaining relative position data of the vehicle and the target parking space; obtaining a starting speed of the vehicle from the second parking space to the target parking space; obtaining the first time range of the vehicle driving into the target parking space according to the relative position data and the starting speed.
[0016] In the above implementation process, the time range of the vehicle driving into the target parking space is determined according to the relative position data and the starting speed, a reasonable time reference is provided for the safe and accurate driving of the vehicle, and unnecessary processes in the parking process of the vehicle are reduced.
[0017] Further, the step of obtaining the second time range of the pedestrian moving to the preset area comprises: obtaining a current moving speed of the pedestrian; correcting the current moving speed according to a preset error value to obtain a current moving speed range of the pedestrian; obtaining the second time range of the pedestrian moving to the preset area according to the current moving speed range of the pedestrian and the relative position data of the pedestrian and the target parking space.
[0018] In the above implementation process, the current moving speed of the pedestrian is corrected according to the preset error value, so that the parking process takes into account the possible sudden conditions of the pedestrian, and the safety hazards that may be caused by the parking process are avoided.
[0019] Further, the step of comparing the first time range and the second time range to obtain a comparison result comprises: When the minimum value of the second time range is greater than the maximum value of the first time range, it is determined that the comparison result is that the parking can be normal.
[0020] In the implementation process, the first time range and the second time range are compared to determine that the vehicle will not suddenly park when the pedestrian safely passes through the preset area, thereby reducing safety hazards and improving parking efficiency and reducing the parking time.
[0021] In a second aspect, the embodiments of the present application further provide a parking device, which comprises: An acquisition module is configured to acquire first real-time data of a vehicle and second real-time data of a pedestrian around the vehicle, wherein the first real-time data comprises driving track and vehicle speed information, and the second real-time data comprises pedestrian motion track and speed information; A coordination control module is configured to perform coordination control of the vehicle and the pedestrian according to the first real-time data and the second real-time data, to obtain relative position data of the vehicle and the pedestrian; A driving condition construction module is configured to construct a driving condition according to the relative position data; A search module is configured to search for a target parking space under the driving condition; A parking module is configured to control the vehicle to park in the target parking space.
[0022] In the implementation process, the relative position between the vehicle and the pedestrian is obtained according to the first real-time data and the second real-time data, the driving condition is constructed according to the relative position, and then the target parking space is searched for parking, so that fast and accurate automatic parking can be realized, the vehicle is temporarily stopped or parked during parking is reduced, and the movement of the pedestrian is considered during parking to reserve time for the pedestrian to pass through, thereby avoiding safety hazards.
[0023] In a third aspect, the embodiments of the present application provide a new energy vehicle comprising the parking device of the second aspect.
[0024] In a fourth aspect, the embodiments of the present application provide an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the method of any one of the first aspect when executing the computer program.
[0025] In a fifth aspect, the embodiments of the present application provide a computer readable storage medium, and the storage medium stores instructions, and when the instructions run on a computer, the computer executes the method of any one of the first aspect.
[0026] Other features and advantages of the present disclosure will be set forth in the descriptions that follow, and in part will be apparent from the description, or can be learned by practice of the present disclosure as will be realized by those of ordinary skill in the art. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.
[0027] and can be implemented according to the contents of the specification, which is described in detail below with reference to the preferred embodiments of the present application and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS
[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope of the present application. Other related drawings can also be obtained by those of ordinary skill in the art without creative labor on the basis of these drawings.
[0029] Figure 1 A flowchart of a parking method is provided for the embodiments of the present application; Figure 2 A structural composition diagram of a parking device is provided for the embodiments of the present application; Figure 3 A structural composition diagram of an electronic device is provided for the embodiments of the present application. DETAILED DESCRIPTION
[0030] The technical solutions in the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application.
[0031] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.
[0032] The specific embodiments of the present application will be described in further detail below in combination with the drawings and embodiments. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.
[0033] The prior art usually needs to consider the actual parking scene to conduct actual test when formulating the parking function. However, the vehicle needs to travel to the parking-in point at a specified speed and path when searching for a parking space in the parking process, and a certain relative motion position needs to be maintained with the interfering pedestrians or obstacles in this process. The prior art usually does not consider the movement trajectory of the pedestrians, but only pauses parking when the pedestrians are shot by the camera, and there is still a certain safety hazard. At the same time, the pause in the parking process will also affect the accuracy and efficiency of parking.
[0034] The application provides an automatic parking method, which obtains the real-time driving track and motion information of a vehicle and a pedestrian, and the position and size information of a parking space through an inertial navigation system, sets a driving condition, drives according to the track and speed specified by the driving condition, calculates the maximum acceleration of the measured vehicle, the relative position of the vehicle and the parking space, the relative angle, the relative distance to the simulated pedestrian, and the like, and realizes efficient, safe and accurate automatic parking.
[0035] Embodiment one Figure 1 The application provides a flowchart of the parking method, as shown in Figure 1 The method comprises the following steps. S1, obtaining first real-time data of a vehicle and second real-time data of a pedestrian around the vehicle, wherein the first real-time data comprises driving track and vehicle speed information, and the second real-time data comprises pedestrian motion track and speed information; S2, performing coordination control of the vehicle and the pedestrian according to the first real-time data and the second real-time data, to obtain relative position data of the vehicle and the pedestrian; S3, constructing a driving condition according to the relative position data; S4, searching for a target parking space under the driving condition; S5, controlling the vehicle to park into the target parking space.
[0036] In the implementation process, the relative position between the vehicle and the pedestrian is obtained according to the first real-time data and the second real-time data, the driving condition is constructed according to the relative position, and then the target parking space is searched for parking, so that the automatic parking can be realized quickly and accurately, the vehicle is prevented from stopping or staying during parking, the motion of the pedestrian is considered during parking, the time for the pedestrian to pass through is reserved, and the safety hazard is avoided.
[0037] In S1, the application realizes automatic parking by controlling the steering wheel, accelerator and brake pedal of the vehicle through a vehicle driving system, and obtains the real-time driving track and motion information of the vehicle and the pedestrian, and the position and size information of the parking space through an intelligent camera and an inertial navigation device. The vehicle driving system controls the steering wheel, accelerator and brake pedal of the measured vehicle, so that the vehicle drives according to the track and speed specified by the driving condition.
[0038] The vehicle driving system obtains the first real-time data of the vehicle through the inertial navigation device, including the driving track and vehicle speed information, and the second real-time data of the pedestrian, including the pedestrian motion track and speed information, and can also obtain the contour and position information of the parking space around the vehicle.
[0039] In S2, the vehicle and the pedestrian are cooperatively controlled, the relative position and the relative motion information are transmitted, the first real-time data and the second real-time data are interacted, so that the vehicle can cooperatively move according to the relative position, and the interference of the pedestrian on the vehicle is strengthened, and thus the collision avoidance capability of the vehicle is improved.
[0040] Further, S3 comprises: obtaining a potential motion trajectory of the pedestrian according to the second real-time data and the relative position data; planning a driving condition of the vehicle according to the potential motion trajectory, and constructing the driving condition of avoiding the potential motion trajectory of the pedestrian.
[0041] In the above implementation process, the driving condition of the vehicle is planned according to the potential motion trajectory of the pedestrian, so that the possible and feasible driving path of the vehicle can be planned in advance before the vehicle parks, thereby providing data support for accurate parking of the vehicle.
[0042] According to the parking auxiliary test standard, the driving condition is set in the application, so that the setting of the driving condition completely conforms to the actual application standard, and the motion trajectory and speed of the vehicle and the pedestrian are considered, and the driving scene can also be expanded by changing the motion trajectory and speed, the motion and position information of the pedestrian, the obstacle and the parking space are simulated, and the driving condition conforming to the kinematic trajectory and conforming to the actual driving scene is constructed.
[0043] Further, after the step of searching the target parking space in the driving condition, the application further comprises: After the target parking space is determined, the relative position data of the target parking space and the vehicle is obtained.
[0044] In the above implementation process, after the target parking space is determined, the relative position data of the target parking space and the vehicle is obtained, so that the vehicle can be better parked in the target parking space, and the possibility of collision or rubbing is reduced.
[0045] In S4, the vehicle driving system controls the vehicle to drive according to the driving condition, and enters a parking space searching state. In the driving condition, the vehicle cooperatively moves according to the position information of the pedestrian or the obstacle, and at this time, the vehicle starts to move to park in the parking space.
[0046] Further, S5 comprises: controlling the vehicle to drive to a first parking space according to the relative position data of the target parking space and the vehicle; controlling the vehicle to drive to a second parking space from the first parking space; after the vehicle is in the second parking space, obtaining the relative position data of the pedestrian and the target parking space; controlling the vehicle to park in the target parking space according to the relative position data of the pedestrian and the target parking space.
[0047] In the implementation process, the relative position data of the pedestrian and the target parking space is used to predict the movement trajectory of the pedestrian, so that the pedestrian can be prevented from moving to the target parking space during parking, and the safety of parking can be improved.
[0048] Further, the step of controlling the vehicle to park into the target parking space according to the relative position data of the pedestrian and the target parking space comprises: obtaining a first time range for the vehicle to enter the target parking space; obtaining a second time range for the pedestrian to move to the preset area; comparing the first time range and the second time range to obtain a comparison result; controlling the vehicle to park into the target parking space according to the comparison result.
[0049] In the implementation process, the first time range for the vehicle to enter the target parking space and the second time range for the pedestrian to move to the preset area are compared, so that more time and space are reserved for the movement of the pedestrian, and the conflict between the parking process of the vehicle and the movement process of the pedestrian is avoided.
[0050] Further, the step of obtaining the first time range for the vehicle to enter the target parking space comprises: obtaining relative position data of the vehicle and the target parking space; obtaining a starting speed of the vehicle when parking into the target parking space from the second parking space; obtaining the first time range required for the vehicle to enter the target parking space according to the relative position data and the starting speed.
[0051] In the implementation process, the relative position data and the starting speed are used to determine the time range for the vehicle to enter the target parking space, so that a reasonable time reference is provided for the safe and accurate entry of the vehicle, and unnecessary processes in the parking process of the vehicle are reduced.
[0052] The maximum acceleration of the vehicle and the relative distance from the pedestrian are calculated according to the relative position data and the starting speed, and the first time range required for the vehicle to enter the target parking space is further calculated.
[0053] Further, the step of obtaining the second time range for the pedestrian to move to the preset area comprises: obtaining a current moving speed of the pedestrian; correcting the current moving speed according to a preset error value to obtain a current moving speed range of the pedestrian; obtaining the second time range for the pedestrian to move to the preset area according to the current moving speed range of the pedestrian and the relative position data of the pedestrian and the target parking space.
[0054] In the implementation process, the current moving speed of the pedestrian is corrected according to the preset error value, so that the parking process takes into account the sudden situation that may exist in the pedestrian, and avoids the safety hazards that may be caused by the parking process.
[0055] The moving speed of the pedestrian is within a reasonable range, and after obtaining the current moving speed, the error value needs to be added or subtracted on the basis of the current moving speed. For example, in the embodiment of the application, the current moving speed of the pedestrian is obtained as 4 km / h, and the error value is 1 km / h. The current moving speed is corrected, and the current moving speed range of the pedestrian is obtained as 3 km / h-5 km / h.
[0056] Further, the step of comparing the first time range and the second time range to obtain a comparison result comprises: When the minimum value of the second time range is greater than the maximum value of the first time range, it is determined that the comparison result is that the parking can be normal.
[0057] In the implementation process, the first time range and the second time range are compared to determine that the vehicle will not suddenly park when the pedestrian safely passes through the preset area, reduce the safety hazards, and improve the parking efficiency and reduce the parking time.
[0058] The automatic parking method proposed in the application has uniqueness, can more accurately simulate the trajectory of the pedestrian movement, avoid the conflict between the pedestrian movement and the parking process of the vehicle, and realize a self-adaptive safe and accurate parking method.
[0059] Embodiment two In order to perform the method corresponding to the above-mentioned embodiment one to realize the corresponding functions and technical effects, a parking device is provided below, as shown in Figure 2 The device comprises: The acquisition module 1 is configured to acquire first real-time data of the vehicle and second real-time data of the pedestrian around the vehicle, the first real-time data comprising driving trajectory and vehicle speed information, and the second real-time data comprising pedestrian movement trajectory and speed information; The coordination control module 2 is configured to perform coordination control of the vehicle and the pedestrian according to the first real-time data and the second real-time data, and obtain relative position data of the vehicle and the pedestrian; The driving condition construction module 3 is configured to construct a driving condition according to the relative position data; The search module 4 is configured to search for a target parking space under the driving condition; The parking module 5 is configured to control the vehicle to park into the target parking space.
[0060] In the implementation process, the relative position between the vehicle and the pedestrian is obtained according to the first real-time data and the second real-time data, the driving condition is constructed according to the relative position, and the target parking space is searched for parking, so that the automatic parking can be realized quickly and accurately, the suspension or stay of the vehicle in the parking process is reduced, the movement of the pedestrian in the parking process is considered, the time for the pedestrian to pass through is reserved, and safety hazards are avoided.
[0061] Further, the driving condition construction module 3 is further used for: obtaining the potential movement trajectory of the pedestrian according to the second real-time data and the relative position data; planning the driving condition of the vehicle according to the potential movement trajectory, and constructing the driving condition for avoiding the potential movement trajectory of the pedestrian.
[0062] In the implementation process, the driving condition of the vehicle is planned according to the potential movement trajectory of the pedestrian, so that the possible and feasible driving path of the vehicle can be planned in advance before the vehicle parks, and data support is provided for accurate parking of the vehicle.
[0063] Further, the device further comprises a data obtaining module, which is used for: after the target parking space is determined, obtaining the relative position data of the target parking space and the vehicle.
[0064] In the implementation process, the relative position data of the target parking space and the vehicle is obtained after the target parking space is determined, so that the vehicle can be better parked in the target parking space, and the possibility of collision or rubbing is reduced.
[0065] Further, the parking module 5 is further used for: controlling the vehicle to drive to a first parking space according to the relative position data of the target parking space and the vehicle; controlling the vehicle to drive to a second parking space from the first parking space; after the vehicle is in the second parking space, obtaining the relative position data of the pedestrian and the target parking space; controlling the vehicle to park in the target parking space according to the relative position data of the pedestrian and the target parking space.
[0066] In the implementation process, the movement trajectory of the pedestrian is predicted according to the relative position data of the pedestrian and the target parking space, so that the pedestrian is prevented from moving to the target parking space to affect the parking in the parking process, and the safety of parking can be improved.
[0067] Further, the parking module 5 is further used for: obtaining a first time range in which the vehicle drives into the target parking space; obtaining a second time range in which the pedestrian moves to a preset area; comparing the first time range and the second time range to obtain a comparison result; Control the vehicle parking target slot according to the comparison result.
[0068] In the implementation process, the first time range of the vehicle entering the target slot and the second time range of the pedestrian moving to the preset area are compared, more time and space are reserved for the movement of the pedestrian, and the conflict between the vehicle parking process and the pedestrian movement process is avoided.
[0069] Further, the parking module 5 is also used for: obtaining relative position data of the vehicle and the target slot; obtaining a starting speed of the vehicle entering the target slot from the second parking slot; obtaining a first time range of the vehicle entering the target slot according to the relative position data and the starting speed.
[0070] In the implementation process, the time range of the vehicle entering the target slot is determined according to the relative position data and the starting speed, a reasonable time reference is provided for the safe and accurate entry of the vehicle, and unnecessary processes in the vehicle parking process are reduced.
[0071] Further, the parking module 5 is also used for: obtaining a current moving speed of the pedestrian; correcting the current moving speed according to a preset error value to obtain a current moving speed range of the pedestrian; obtaining a second time range of the pedestrian moving to the preset area according to the current moving speed range of the pedestrian and relative position data of the pedestrian and the target slot.
[0072] In the implementation process, the current moving speed of the pedestrian is corrected according to the preset error value, so that the parking process takes into account the possible sudden conditions of the pedestrian, and the safety hazards caused by the parking process are avoided.
[0073] Further, the parking module 5 is also used for: when the minimum value of the second time range is greater than the maximum value of the first time range, determining that the comparison result is normal parking.
[0074] In the implementation process, the first time range and the second time range are compared to determine that the vehicle will not suddenly park when the pedestrian safely passes through the preset area, the safety hazards are reduced, the parking efficiency is improved, and the parking time is reduced.
[0075] The parking device described above can implement the method of the above-mentioned embodiment one. The options in the above-mentioned embodiment one are also applicable to this embodiment, which will not be described in detail here.
[0076] The rest of the content of the embodiment of the present application can refer to the content of the above-mentioned embodiment one. In this embodiment, it will not be described in detail.
[0077] Embodiment three The embodiment of the application provides a new energy automobile, which comprises the parking device of the embodiment two.
[0078] Embodiment four The embodiment of the application provides an electronic device, which comprises a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic device to execute the parking method of the embodiment one.
[0079] Optionally, the electronic device can be a server.
[0080] Please see Figure 3 , Figure 3 The structural component schematic diagram of the electronic device provided by the embodiment of the application is shown. The electronic device can comprise a processor 31, a communication interface 32, a memory 33 and at least one communication bus 34. Wherein, the communication bus 34 is used for realizing the direct connection communication of the components.
[0081] Optionally, the electronic device can further comprise a storage controller, an input and output unit. The memory 33, the storage controller, the processor 31, the peripheral interface, the input and output unit are electrically connected directly or indirectly to each other, so as to realize the transmission or interaction of data.
[0082] The input and output unit is used for providing the user with creating a task and creating an optional time period or preset execution time for the task to realize the interaction of the user and the server. The input and output unit can be, but is not limited to, a mouse, a keyboard and the like.
[0083] It can be understood that Figure 3 The structure shown is only schematic, and the electronic device can further comprise more or less components than those shown in the figures, or have a different configuration of components than those shown in the figures. In addition, the embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to realize the parking method of the embodiment one. Figure 3 Figure 3 The embodiment of the application also provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.
[0084] The embodiment of the application also provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.
[0085] The above merely provides an example of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
[0086] The above merely provides an example of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
[0086] The above merely provides an example of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
Claims
1. A parking method characterized by, The method comprises: acquiring first real-time data of a vehicle and second real-time data of a pedestrian around the vehicle, the first real-time data comprising driving track and vehicle speed information, and the second real-time data comprising pedestrian motion track and speed information; performing coordinated control of the vehicle and the pedestrian according to the first real-time data and the second real-time data to obtain relative position data of the vehicle and the pedestrian; constructing a driving condition according to the relative position data; searching for a target parking space under the driving condition; controlling the vehicle to park in the target parking space.
2. The parking method according to claim 1, wherein, The step of constructing a driving condition according to the relative position data comprises: obtaining a potential motion track of the pedestrian according to the second real-time data and the relative position data; planning a driving condition of the vehicle according to the potential motion track to construct a driving condition avoiding the potential motion track of the pedestrian.
3. The parking method according to claim 1, wherein, After the step of searching for a target parking space under the driving condition, the method further comprises: after determining the target parking space, obtaining relative position data of the target parking space and the vehicle.
4. The parking method according to claim 3, wherein, The step of controlling the vehicle to park in the target parking space comprises: controlling the vehicle to drive to a first parking space according to the relative position data of the target parking space and the vehicle; controlling the vehicle to drive to a second parking space from the first parking space; after the vehicle is in the second parking space, obtaining relative position data of the pedestrian and the target parking space; controlling the vehicle to park in the target parking space according to the relative position data of the pedestrian and the target parking space.
5. The parking method according to claim 4, wherein, The step of controlling the vehicle to park in the target parking space according to the relative position data of the pedestrian and the target parking space comprises: obtaining a first time range for the vehicle to enter the target parking space; obtaining a second time range for the pedestrian to move to a preset area; comparing the first time range and the second time range to obtain a comparison result; controlling the vehicle to park in the target parking space according to the comparison result.
6. The parking method according to claim 5, wherein, The step of obtaining a first time range for the vehicle to enter the target parking space comprises: acquiring relative position data of the vehicle and the target parking space; acquiring a starting speed of the vehicle to park in the target parking space from the second parking space; obtaining a first time range required for the vehicle to enter the target parking space according to the relative position data and the starting speed.
7. The parking method according to claim 5, wherein, The step of obtaining a second time range for the pedestrian to move to a preset area comprises: acquiring a current moving speed of the pedestrian; correcting the current moving speed according to a preset error value to obtain a current moving speed range of the pedestrian; obtaining a second time range for the pedestrian to move to the preset area according to the current moving speed range of the pedestrian and relative position data of the pedestrian and the target parking space.
8. The parking method according to claim 5, wherein, The step of comparing the first time range and the second time range to obtain a comparison result comprises: when a minimum value of the second time range is greater than a maximum value of the first time range, determining that the comparison result is that the vehicle can be normally parked.
9. A parking device, characterized in that The device comprises: An acquisition module is configured to acquire first real-time data of a vehicle and second real-time data of a pedestrian around the vehicle, the first real-time data including driving trajectory and vehicle speed information, and the second real-time data including pedestrian motion trajectory and speed information. A coordination control module is configured to perform coordination control of the vehicle and the pedestrian according to the first real-time data and the second real-time data, to obtain relative position data of the vehicle and the pedestrian. A driving condition construction module is configured to construct a driving condition according to the relative position data. A search module is configured to search for a target parking space under the driving condition. A parking module is configured to control the vehicle to park in the target parking space.
10. A new energy vehicle, characterized in that, The parking device of claim 9 is included.
11. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of claims 1-8. The storage medium has instructions stored thereon, and when the instructions are executed on a computer, the computer executes the method of claims 1-8.
12. A storage medium, characterized by