Method and device for determining parking position, equipment and storage medium

Abstract

The embodiment of the invention relates to a method and device for determining a parking position, equipment and a storage medium. The method proposed herein comprises: determining, in a first map, at least one search starting point matching a reference position in a second map, the reference position being associated with a travel of the vehicle, the accuracy of the first map being higher than the accuracy of the second map, and the at least one search starting point being located at a road edge in the first map; in the first map, at least one search result corresponding to the at least one search starting point is determined, and each search result in the at least one search result indicates at least one lane unit located near the corresponding search starting point in the first map; and determining a target parking position for the vehicle from each lane unit at least based on a corresponding navigation route from the reference position to each lane unit indicated by the at least one search result.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to the field of computer technology, and more particularly, to a method, apparatus, device and storage medium for determining a parking position. BACKGROUND

[0002] An unmanned vehicle is an intelligent transportation tool capable of realizing autonomous perception, decision-making and driving by relying on sensors, artificial intelligence algorithms, high-precision maps and vehicle networking technologies, etc. without direct manipulation of a human driver. The unmanned vehicle is widely used in scenarios such as logistics distribution, travel service and special operation, and is regarded as an important component of future intelligent transportation systems. SUMMARY

[0003] In a first aspect of the present disclosure, a method for determining a parking position is provided, comprising: determining, in a first map, at least one search starting point matched with a reference position in a second map, wherein the reference position is associated with a trip of a vehicle, the accuracy of the first map is higher than that of the second map, and the at least one search starting point is located at a road edge in the first map; determining, in the first map, at least one search result corresponding to the at least one search starting point, wherein each search result in the at least one search result indicates at least one lane unit in the first map located near the corresponding search starting point; and determining, from the respective lane units, a target parking position for the vehicle based on at least respective navigation routes from the reference position to the respective lane units indicated by the at least one search result.

[0004] In a second aspect of the present disclosure, an apparatus for determining a parking position is provided, comprising: a search starting point determination module configured to determine, in a first map, at least one search starting point matched with a reference position in a second map, wherein the reference position is associated with a trip of a vehicle, the accuracy of the first map is higher than that of the second map, and the at least one search starting point is located at a road edge in the first map; a search result determination module configured to determine, in the first map, at least one search result corresponding to the at least one search starting point, wherein each search result in the at least one search result indicates at least one lane unit in the first map located near the corresponding search starting point; and a parking position determination module configured to determine, from the respective lane units, a target parking position for the vehicle based on at least respective navigation routes from the reference position to the respective lane units indicated by the at least one search result.

[0005] In a third aspect of the present disclosure, an electronic device is provided. The device includes at least one processor; and at least one memory coupled to the at least one processor and storing instructions for execution by the at least one processor. The instructions, when executed by the at least one processor, cause the device to perform the method of the first aspect.

[0006] In a fourth aspect of the disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has stored thereon computer-executable instructions that, when executed by a processor, implement the method of the first aspect.

[0007] In a fifth aspect of the disclosure, a computer program product is provided. The computer program product includes computer-executable instructions that, when executed by a processor, implement the method according to the first aspect of the disclosure.

[0008] It should be understood that nothing in this Summary is intended to limit the scope of the embodiments of the disclosure or the accompanying claims in any way. BRIEF DESCRIPTION OF DRAWINGS

[0009] The above and other features, aspects, and advantages of embodiments of the disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements, in which: Figure 1 a schematic diagram illustrating an example environment in which embodiments of the disclosure can be implemented; Figure 2 a flowchart illustrating an example process for determining a pull over location according to some embodiments of the disclosure; Figures 3A-3C schematic diagrams illustrating several examples in which a reference location is located within a premises according to some embodiments of the disclosure; Figure 4A and Figure 4B schematic diagrams illustrating several examples in which a reference location is located near a road according to some embodiments of the disclosure; Figure 5 a schematic block diagram illustrating an apparatus for determining a pull over location according to some embodiments of the disclosure; and Figure 6 a block diagram of an electronic device in which one or more embodiments of the disclosure can be implemented. DETAILED DESCRIPTION

[0010] Embodiments of the disclosure will be described below in greater detail with reference to the accompanying drawings. While certain embodiments of the disclosure are shown in the drawings, it is understood that the disclosure can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein; rather, these embodiments are provided so that the disclosure will be thoroughly and completely understood. It should be understood that the drawings and embodiments of the disclosure are only for illustrative purposes and should not be construed as limiting the scope of protection of the disclosure.

[0011] It should be noted that the headings provided herein are for convenience only and are not to be construed as limiting. Various embodiments are described herein, and any type of embodiment can be included under any heading. Further, embodiments described in any heading can be combined with any other embodiment described in the same heading and / or a different heading in any manner.

[0012] In the description of embodiments of the disclosure, the term "includes" and its similar terms are to be understood as open-ended, i.e., "including but not limited to". The term "based on" is to be understood as "based, at least in part, on". The term "one embodiment" or "an embodiment" is to be understood as "at least one embodiment". The term "some embodiments" is to be understood as "at least some embodiments". Other explicit or implicit definitions can also be included below. The terms "first", "second", etc. can refer to different or same objects. Other explicit and implicit definitions can also be included below.

[0013] Data of users, acquisition and / or use of data, etc. can be involved in embodiments of the disclosure. These aspects all comply with corresponding laws and regulations and relevant provisions. In embodiments of the disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are performed on the premise that the user is aware of and confirms. Accordingly, when implementing embodiments of the disclosure, the type of data or information that can be involved, the use range, the use scenario, etc. should be informed to the user and the authorization of the user should be obtained through appropriate means according to relevant laws and regulations. The specific informing and / or authorization manner can vary according to actual situations and application scenarios, and the scope of the disclosure is not limited in this aspect.

[0014] In the specification and embodiments of the disclosure, if personal information processing is involved, it will be processed on the premise of legality (for example, obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and only within the prescribed or agreed range. Users refuse to process personal information other than the necessary information required for basic functions, which will not affect the user's use of basic functions.

[0015] As briefly described above, unmanned vehicles are widely used in scenarios such as logistics distribution, travel services, and special operations. However, current unmanned vehicles rely on high-definition maps (HD Maps) for positioning, path planning, and behavior decision-making. High-definition maps not only contain lane-level geometric and topological information, but also accurately mark semantic elements such as traffic signs, road edges, stop lines, and drivable areas, which are key foundations for realizing autonomous driving.

[0016] Compared with a standard-definition map (SD Map), a high-definition map has a limited coverage and a high update cost, especially in areas such as urban secondary roads, old communities, and newly built commercial districts. The incompleteness of such map data makes it difficult for an autonomous vehicle to meet actual needs when performing precise parking and other tasks.

[0017] For example, in a robotaxi scenario, a user initiates a ride request by inputting a departure location and / or a destination. However, the departure location and / or the destination are often located inside a building, a closed park, or other similar areas. These areas can not be defined in a high-definition map, which makes it impossible for an autonomous vehicle to complete parking.

[0018] In one solution, the shortest straight-line distance between the departure location and / or the destination and a parking area in a high-definition map can be selected as the parking location of the autonomous vehicle. However, this solution ignores actual accessibility, which may result in the selected parking area requiring the user to detour. This not only causes the user to have an additional walking burden, but also increases the travel time, thereby reducing service efficiency.

[0019] Embodiments of the present disclosure provide a solution for determining a parking location. According to the solution, in a first map, at least one search starting point that matches a reference location in a second map is determined. The reference location is associated with a trip of a vehicle. The accuracy of the first map is higher than that of the second map. The at least one search starting point is located at a road edge in the first map. In the first map, at least one search result corresponding to the at least one search starting point is determined. Each search result in the at least one search result indicates at least one lane unit located near the corresponding search starting point in the first map. Based at least on respective navigation routes from the reference location to the respective lane units indicated by the at least one search result, a target parking location for the vehicle is determined from the respective lane units.

[0020] According to the solution of the embodiments of the present disclosure, a search starting point located at a road edge can be matched in a first map (for example, a high-definition map) based on a reference location (for example, a departure location and / or a destination input by a user) in a second map (for example, a standard-definition map), so as to “map” the departure location and / or the destination to a drivable area in the high-definition map that has practical significance. On this basis, in the high-definition map, a neighboring lane unit (hereinafter also referred to as a candidate lane unit) is further retrieved based on the search starting point, and a comprehensive evaluation is performed in combination with actual navigation routes (rather than simple straight-line distances) from the reference location to the respective candidate lane units. The target parking location determined by this mechanism fully considers the real accessibility of the respective candidate lane units, avoids detours and other problems in traditional solutions, and significantly improves the rationality and practicality of the selection of the parking location.

[0021] Various example implementations of the solution will be described in further detail below in conjunction with the following figures.

[0022] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. Referring to Figure 1 , the example environment 100 can include a terminal device 110, a server device 120, a vehicle 130, and a user 140.

[0023] In the example environment 100, the terminal device 110 can be installed with an application 150 related to a travel service. The user 140 can interact with the application 150 through the terminal device 110 and / or its attached devices. The application 150 can present an interface 160 in which the user 140 can operate to reserve the vehicle 130, so as to obtain a desired travel service. The vehicle 130 can be any transportation means capable of carrying people and / or goods and moving by a power system (e.g., an engine or an electric motor). As examples, the vehicle 130 includes, but is not limited to, a manned vehicle, an autonomous vehicle, or a hybrid vehicle of both. For example, the vehicle 130 can be various autonomous vehicles such as a self-driving taxi, a self-driving bus, a self-driving delivery vehicle, etc.

[0024] In some embodiments, the terminal device 110 can communicate with the server device 120 to implement the provision of services for the application 150. The terminal device 110 can be any type of mobile terminal, fixed terminal, or portable terminal including a mobile handset, a desktop computer, a laptop computer, a notebook computer, a netbook computer, a tablet computer, a media computer, a multimedia tablet, a personal communication system (PCS) device, a personal navigation device, a personal digital assistant (PDA), an audio / video player, a digital camera / camcorder, a positioning device, a television receiver, a radio broadcast receiver, an e-book device, a game device, or any combination thereof, including accessories and peripherals of these devices, or any combination thereof. In some embodiments, the terminal device 110 can also support any type of interface to the user (such as "wearable" circuitry, etc.).

[0025] In some embodiments, the server device 120 can be a standalone physical server, a server cluster or a distributed system composed of multiple physical servers, a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content distribution network, and big data and artificial intelligence platform, etc. The server device 120 may, for example, include a computing system / server, such as a mainframe, an edge computing node, a computing device in a cloud environment, etc. The server device 120 can provide background services for the application 150 in the terminal device 110 that supports content presentation.

[0026] A communication connection can be established between the server device 120 and the terminal device 110. The communication connection can be established by wired or wireless means. The communication connection can include, but is not limited to, a Bluetooth connection, a mobile network connection, a universal serial bus connection, a wireless fidelity connection, etc., and embodiments of the present disclosure are not limited in this respect. In embodiments of the present disclosure, the server device 120 and the terminal device 110 can achieve signaling interaction through the communication connection therebetween.

[0027] It should be understood that the structure and function of the various elements in the environment 100 are described for illustrative purposes only, without implying any limitation on the scope of the present disclosure.

[0028] Figure 2 A flowchart of an example process 200 of determining a parking position is shown according to some embodiments of the present disclosure. The following describes the process 200 in conjunction with Figure 1 The process 200 is described. In some embodiments, the process 200 can be implemented at the terminal device 110, at the server device 120, or coordinated by the terminal device 110 and the server device 120. For ease of discussion, the following describes various example implementations of embodiments of the present disclosure, with the process 200 being implemented at the terminal device 110.

[0029] Referring to Figure 2 At block 210, the terminal device 110 determines, in a first map, at least one search starting point matching a reference position in a second map. The reference position is associated with a trip of the vehicle 130. The first map has a higher accuracy than the second map. The at least one search starting point is located at a road edge in the first map.

[0030] The first map can refer to a high-precision map. The high-precision map can have a centimeter-level positioning accuracy, containing rich semantic and topological information such as lane-level geometry, road edge, traffic sign, stop line, drivable area, road edge, slope, curvature, etc. The high-precision map can support the vehicle 130 (especially unmanned vehicles) to perform positioning, perception fusion, path planning, and safe parking.

[0031] The second map can refer to a standard precision map. The precision of the standard precision map can be in the order of meters. The standard precision map can be used for macroscopic navigation or user interaction scenarios. The standard precision map has a wide coverage and a high update frequency, and is commonly used in map applications, online car-hailing platforms, or terminal devices. For example, the user 140 can input a departure location and / or a destination based on the standard precision map.

[0032] The reference location can refer to a departure location and / or a destination input by the user 140 or automatically recognized by the terminal device 110. The reference location can be represented in the form of a point of interest (POI), such as “XX Mansion” or “YY Shopping Center”, and the like. The reference location can be located in a place, such as inside a building or inside a park, or near a road. The search starting point can refer to one or more locations in the high-precision map that are spatially adjacent to the reference location and located at the edge of the road. The search starting point will serve as the starting anchor point for subsequent retrieval of available lane units in the high-precision map.

[0033] In some embodiments, the terminal device 110 can map the reference location in the second map to the first map. The terminal device 110 can take the reference location mapped to the first map as the basis to retrieve eligible roadside nodes on the edge of the road in the first map, thereby obtaining the search starting point. In some embodiments, the terminal device 110 can retain multiple roadside nodes that meet the conditions as the search starting point to support subsequent multi-path evaluation and selection of the optimal stopping location.

[0034] In some embodiments, the terminal device 110 can identify the location type of the reference location. On this basis, the terminal device 110 can adopt differentiated strategies based on the location type of the reference location to match search starting points that better meet the actual scene requirements.

[0035] Figures 3A-3CFIGS. 300A-300C show schematic diagrams of examples 300A-300C in which the reference location is located within a site, according to some embodiments of the present disclosure. For clarity, reference numerals related to the reference location, the exits and entrances of the site, and the search start points are shown in example 300A. For example, reference location 301, exits and entrances 302-1 to 302-4 (hereinafter also individually or collectively referred to as exits 302), and search start points 303-1 to 303-4 (hereinafter also individually or collectively referred to as search start points 303) are shown in example 300A. Reference numerals related to the search start points 303 and the lane units are shown in example 300B. For example, in addition to the search start points 303, lane units 305-1 to 305-11 (hereinafter also individually or collectively referred to as lane units 305) are shown in example 300B. Only reference numerals related to the navigation routes are shown in example 300C. For example, navigation routes 306-1 to 306-7 (hereinafter also individually or collectively referred to as navigation routes 306) are shown in example 300C.

[0036] With reference to Figures 3A-3C In some embodiments, if it is determined that the reference location 301 is located inside the site 307, the terminal device 110 can determine a location in the first map corresponding to an exit zone of the site 307 as one of the at least one search start point 303.

[0037] The site 307 can refer to an area with a clear boundary and entrances and exits. The site 307 includes, but is not limited to, an office building, a shopping mall, a residential complex, a hospital, a school, an industrial park, a transportation hub, etc. Such a site 307 is modeled as a polygonal area in the map data, and is labeled with a plurality of exits and entrances 302, such as a main entrance, a side door, a freight passage, etc. In some embodiments, the terminal device 110 can map these exits and entrances 302 to the high-precision map. In turn, the terminal device 110 can determine a location adjacent to each exit and entrance 302 and located at the edge of a road (e.g., roads 308-1 to 308-4, hereinafter also individually or collectively referred to as roads 308) in the high-precision map (this process can also be referred to as binding the road, and the search range of the binding road can be, for example, 256 meters or other appropriate values), and determine the location as one of the at least one search start point 303. For example, the terminal device 110 determines a location adjacent to the exit and entrance 302-1 and located at the edge of the road 308-2 as the search start point 303-1. The terminal device 110 determines a location adjacent to the exit and entrance 302-2 and located at the edge of the road 308-4 as the search start point 303-2. The terminal device 110 determines a location adjacent to the exit and entrance 302-3 and located at the edge of the road 308-4 as the search start point 303-3. The terminal device 110 determines a location adjacent to the exit and entrance 302-4 and located at the edge of the road 308-1 as the search start point 303-4. Similarly, the terminal device 110 can determine the search start points 303-5 to 303-11 in the same manner.

[0038] In this way, even if the reference location 301 is inside a building (e.g., "XX Mansion 3rd Floor"), the terminal device 110 can "extrapolate" it to the most reasonable external connection point of the site 307, avoiding the vehicle 130 matching to a location far from the entrance and exit 302, thereby significantly shortening the passenger walking distance and improving the safety of getting on and off the vehicle.

[0039] Figure 4A and Figure 4B FIGS. 4A and 4B show schematic diagrams of examples 400A and 400B in which the reference location is located near a road, according to some embodiments of the present disclosure. For clarity of presentation, reference numerals in the example 400A are shown with respect to the reference location 301, the search starting point 303, and the lane unit 305. For example, the reference location 301, the search starting point 303-5 (hereinafter referred to individually or collectively as the search starting point 303 along with the search starting points 303-1 to 303-4), and the lane unit 305-12 to 305-21 (hereinafter referred to individually or collectively as the lane unit 305 along with the lane units 305-1 to 305-11) are shown in the example 400A. Reference numerals in the example 400B are shown with respect to the navigation route 306. For example, the navigation route 306-8 to 306-11 (hereinafter referred to individually or collectively as the navigation route 306 along with the navigation routes 306-1 to 306-7) are shown in the example 400B.

[0040] With reference to Figure 4A and Figure 4B Alternatively or additionally, in some embodiments, if the reference location 301 is located near a road (e.g., the roads 308-5 and 308-6, hereinafter referred to individually or collectively as the roads 308 along with the roads 308-1 to 308-4), the terminal device 110 can determine a location in the first map corresponding to the reference location 301 as one of the at least one search starting point 303. In some embodiments, the terminal device 110 can map the reference location 301 to the nearest edge of the road in the first map and determine the location as one of the at least one search starting point 303. For example, the terminal device 110 determines a location adjacent to the reference location 301 and located at the edge of the road 308-5 (this process can also be referred to as road binding, and the search range of road binding can be, for example, 14 meters or other appropriate values) as the search starting point 303-5. In this way, the terminal device 110 can quickly obtain the search starting point 303, thereby improving processing efficiency.

[0041] With reference back to Figure 2 At block 220, the terminal device 110 determines, in the first map, at least one search result corresponding to the at least one search starting point 303. Each search result indicates at least one lane unit 305 in the first map located near the corresponding search starting point 303.

[0042] The lane cell 305 can refer to a basic unit obtained by splitting a lane in a high-definition map (e.g., in units of 10 meters). The search result can refer to a set of lane cells 305 retrieved by the terminal device 110 in the high-definition map based on a search starting point 303. The search result aims to find specific lane-level positions at which the vehicle 130 can actually perform a parking operation.

[0043] In some embodiments, the terminal device 110 can search for lane cells 305 within a predetermined search range based on the search starting point 303. The terminal device 110 can eliminate lane cells 305 that do not meet the parking conditions according to lane semantics and the like in the high-definition map. The terminal device 110 can take the lane cells 305 selected through the above screening as the search result corresponding to the search starting point 303.

[0044] Through the above mechanism, the terminal device 110 can convert the search starting point 303 into a set of lane-level candidate parking positions that meet the parking requirements of the vehicle 130. In this way, effective data support can be provided for subsequent optimal parking position selection based on the navigation path (as described in block 230).

[0045] In combination with reference Figure 4A and Figure 4B In some embodiments, for any search starting point 303 (e.g., the second search starting point) of the at least one search starting point 303, the search result (e.g., the second search result) corresponding to the search starting point 303 can be determined based on the road 308 on which the search starting point 303 is located. For example, in the first map, the terminal device 110 can search for lane cells 305 (e.g., lane cells 305-12 to 305-15, also referred to as second lane cells hereinafter) located near the second search starting point (e.g., the search starting point 303-5) on at least one side of the first road (e.g., the road 308-5) on which the second search starting point is located. The terminal device 110 can take the second lane cells as at least a part of the second search result corresponding to the second search starting point.

[0046] In some embodiments, the road 308 in the high-definition map can be configured with a bidirectional road identifier. If the road 308 does not have a bidirectional road identifier, the terminal device 110 can determine that the road 308 is a unidirectional road, and can directly search for lane cells 305 on one side of the road 308. If the road 308 has a bidirectional road identifier, the terminal device 110 can determine that the road 308 is a bidirectional road, and can obtain more road information from the server device 120 to search for lane cells 305 on both sides of the road 308.

[0047] By limiting the search range to the road 308 where the search starting point 303 is located, the terminal device 110 can efficiently filter out high-quality stoppable lane units 305 without traversing the entire map. This not only significantly reduces the computational complexity, but also ensures the real-time and accuracy of the stoppable lane units 305.

[0048] Alternatively or additionally, in some embodiments, the terminal device 110 can further expand the search range to a road 308 (e.g., road 308-6, hereinafter also referred to as a second road) directly and / or indirectly connected to the first road. Specifically, in the first map, the terminal device 110 can search for lane units 305 (e.g., lane units 305-16 to 305-21, hereinafter also referred to as third lane units 305) located near the second search starting point on at least one side of the second road connected to the first road. The terminal device 110 can take the second lane units and the third lane units as second search results corresponding to the second search starting point.

[0049] The second road connected to the first road can refer to a road 308 in the road network that is spatially connected to the first road 308 and drivable by the vehicle 130. For example, the first road 308 and the second road 308 can be connected through an intersection, etc. In this way, the terminal device 110 can more comprehensively cover the actual available parking area while maintaining the efficiency of the search.

[0050] Referring back to Figure 2 At block 230, the terminal device 110 determines a target parking location for the vehicle 130 from the lane units 305 based at least on the respective navigation routes 306 from the reference location 301 to each lane unit 305 (hereinafter also referred to as candidate lane units).

[0051] Referring back to Figure 4A and Figure 4B In some embodiments, the terminal device 110 can determine a navigation route (e.g., navigation route 306-10) for each candidate lane unit (e.g., lane unit 305-15) starting from the reference location 301. The navigation route 306 can refer to a walking navigation route or a cycling navigation route, etc. between the reference location 301 and a certain candidate lane unit 305. The navigation route 306 can include navigation distance and / or navigation environment information, etc. The navigation environment information may, for example, include whether to cross a closed area, whether there is a sidewalk, whether to detour an obstacle, whether to pass through a bridge / underpass, red light waiting time, slope, lighting conditions, etc. The target parking location can refer to the lane unit 305 selected for the vehicle 130 to actually park after comprehensive evaluation among all candidate lane units.

[0052] In some embodiments, the terminal device 110 can unify the reference location 301 and the candidate lane unit to the same geographic coordinate system. The terminal device 110 can utilize a built-in or a server-side device 120 at a walking or riding navigation service to determine a corresponding navigation route 306 from the reference location 301 as a starting point to the candidate lane unit 305 as an ending point.

[0053] With reference to Figures 3A-3C As mentioned before, in the case that the reference location 301 is located inside the site 307, the terminal device 110 can take a location in the first map corresponding to an entrance and exit 302 (e.g., entrance and exit 302-1) of the site 307 as one of the search starting points 303 (e.g., search starting point 303-1, hereinafter also referred to as the first search starting point). In this case, the navigation route 306 from the reference location 301 to the lane unit 305 (e.g., lane units 305-1 to 305-7, hereinafter also referred to as the first lane unit) indicated by the search result (e.g., the first search result) corresponding to the first search starting point can be determined by combining a plurality of navigation routes. For example, in the first map, the terminal device 110 can determine a first navigation route from the reference location 301 to the first search starting point. In the first map, the terminal device 110 can determine a second navigation route from the first search starting point to the first lane unit. The terminal device 110 can obtain the navigation route 306 of the first lane unit 305 by combining the first navigation route and the second navigation route. It should be noted that, for the sake of clarity, Figure 3C The first navigation route is not shown in FIG. 3B, and the navigation route 306 is referred to by the corresponding second navigation route.

[0054] In this way, the terminal device 110 can construct a navigation path that is more realistic and more in line with actual travel behavior, especially suitable for scenarios where the reference location 301 is located in a site (such as a large shopping mall, an office park, or a hospital). By dividing the path into two segments of “in-site path + out-of-site path” and modeling the routes using high-precision maps respectively, the actual walking cost can be accurately reflected. This makes the subsequent evaluation of the lane unit 305 more accurate and enhances the adaptability in areas where the high-precision map coverage is incomplete (such as unmodeled indoor structures).

[0055] With reference to Figure 4A and Figure 4BAs mentioned above, in the case where the reference location 301 is located near the road 308, the terminal device 110 can take a location corresponding to the reference location 301 in the first map as one of the search starting points 303. In this case, the terminal device 110 can directly determine the navigation route 306 of each lane unit 305 near the search starting point 303 (e.g., the navigation routes 306-8 to 306-11) by taking the search starting point 303 (e.g., the search starting point 303-5) as the navigation starting point and the lane units 305 (e.g., the lane units 305-12 to 305-21) near the search starting point 303 as the navigation ending points. In this way, the computational overhead can be reduced, and the service response speed can be improved.

[0056] In some embodiments, the terminal device 110 can determine the respective passage costs of the respective lane units 305 based on the respective navigation routes 306 from the reference location 301 to the respective lane units 305. The terminal device 110 can determine the target parking location based on the respective passage costs of the respective lane units 305 and the passage cost requirement.

[0057] The passage cost can refer to a "price" paid by the user 140 to reach a candidate lane unit from the reference location 301. The passage cost can include one or more indicators such as a passage distance and / or a passage time. In addition, the passage cost can include more content, such as a path complexity (e.g., a number of turns, a number of carriageways to be crossed), and the like.

[0058] The passage cost requirement can be a pre-set constraint condition. In some embodiments, the passage cost requirement can indicate that the passage cost does not exceed a threshold cost (e.g., a walking distance ≤ 300 meters). Alternatively or additionally, in some embodiments, the passage cost requirement can indicate that the candidate lane unit 305 with the lowest passage cost is selected. In other words, the terminal device 110 can determine the candidate lane unit 305 with the lowest passage cost and the passage cost not exceeding the threshold cost as the target parking location.

[0059] In some embodiments, in the process of determining the passage cost, the terminal device 110 can introduce a cross-road cost. For example, for any lane unit 305 (e.g., a fifth lane unit) of the respective lane units 305, the terminal device 110 can determine whether a route from the reference location 301 to the fifth lane unit (e.g., the lane unit 305-15) crosses a road. If the route crosses a road, the terminal device 110 can determine the passage cost of the fifth lane unit based on the navigation route 306 from the reference location 301 to the fifth lane unit and a cross-road cost of the cross road. If the route does not cross a road, the terminal device 110 can determine the passage cost of the fifth lane unit based on the navigation route 306 from the reference location 301 to the fifth lane unit.

[0060] A cross road can refer to a road that needs to cross one or more motorways. Here, the cross road includes, but is not limited to, crossing a main road, a secondary road, a branch road, a pedestrian crossing without a traffic light, and the like. The cross road cost can refer to an index introduced to quantify the additional "cost" brought by the cross road behavior, and the value can be based on, for example, the road level crossed (such as highway > main road > branch road), whether there is a traffic light or pedestrian crossing, traffic volume or time period, the number of lanes to be crossed, whether there is a central barrier or secondary crossing demand, and the like.

[0061] In some embodiments, the road 308 where the cross road situation exists in the high-precision map can be configured with a bidirectional road identifier. The terminal device 110 can determine whether the current route is a cross road based on whether the route crosses the road 308 carrying the bidirectional road identifier. In addition, the terminal device 110 can also detect the cross road in other appropriate manners, and the embodiments of the present disclosure will not be enumerated one by one here.

[0062] In this way, the terminal device 110 can more accurately distinguish between the "slightly close but need to cross the road" and the "slightly far but do not need to cross the road" candidate lane units 305. Therefore, it is beneficial to determine the candidate lane unit with lower risk as the target parking position, so as to realize more humanized and intelligent parking position decision under the premise of ensuring the safety of the user 140.

[0063] In some embodiments, in the process of determining the target parking position, the terminal device 110 can introduce the respective recommendation degree of each lane unit 305. For example, the terminal device 110 can adjust the respective travel cost of each lane unit 305 based on the respective recommendation degree of each lane unit 305. For each lane unit 305, the terminal device 110 can determine the lane unit 305 whose adjusted respective travel cost meets the travel cost requirement as the target parking position.

[0064] The recommendation degree of the lane unit 305 can refer to a quantitative index for measuring the overall suitability of the lane unit 305 as a parking position of the autonomous vehicle 130. The recommendation degree of the lane unit 305 can indicate the historical use frequency of the lane unit 305 as the target parking position (also referred to as the heat of the lane unit 305) and the parking safety, for example, whether it is far away from the intersection conflict area, sharp bend, slope or visual blind area, and the like. In some embodiments, the terminal device 110 can determine the recommendation degree of each lane unit 305 based on historical order data by counting the pick-up and drop-off success rate, user 140 cancellation rate, average waiting time, user score and the like of each lane unit 305.

[0065] In some embodiments, the terminal device 110 can convert the recommendation degree into one of the indicators of the passage cost. The terminal device 110 can superimpose the converted recommendation degree on the passage cost to adjust the original passage cost. For example, the terminal device 110 can convert the “50” heat degree to “-1” meter passage distance. In other words, for the lane unit 305 with an actual passage distance of 50 meters, if the lane unit 305 has a “50” heat degree, the passage distance of the lane unit 305 can be considered as 49 meters. On this basis, the terminal device 110 sorts all candidate lane units 305 according to the adjusted passage cost, and determines the lane unit 305 with the lowest cost as the target parking position for the vehicle 130 to stop. In this way, the practicability of the parking position and the user satisfaction can be improved.

[0066] In some embodiments, in the process of determining the target parking position, the terminal device 110 can introduce the position type of each lane unit 305. For example, the terminal device 110 can determine the respective priority of each lane unit 305 based on the position type of the position where each lane unit 305 is located. The terminal device 110 can determine the target parking position for the vehicle 130 from each lane unit 305 based on the respective navigation route 306 from the reference position 301 to at least one search result indicated by each lane unit 305 and the respective priority of each lane unit 305. In this way, the terminal device 110 further considers the reasonableness of the parking position, thereby avoiding guiding the vehicle 130 to a traffic-sensitive area, a non-compliant area, or a position with poor user experience, etc.

[0067] In some embodiments, the position type can include at least one of the following: a motor vehicle lane, a non-motor vehicle lane, or an intersection. Different position types correspond to different traffic rule constraints and parking suitability, and therefore can be assigned different priorities. For example, the lane unit 305 in the motor vehicle lane has a first priority, the lane unit 305 in the non-motor vehicle lane has a second priority, the lane unit 305 in the intersection has a third priority, and the second priority is higher than the first priority and lower than the third priority.

[0068] In this way, the terminal device 110 can preferentially determine the lane unit 305 at the intersection as the target parking position, thereby avoiding high-risk or low-experience areas and selecting a parking position that is both safe and convenient and complies with traffic management specifications. It should be noted that the above is only an exemplary illustration, and in actual applications, more position types and more priority settings can be included, and the embodiments of the present disclosure do not limit this.

[0069] In some embodiments, in the process of determining the target parking position, the terminal device 110 can introduce a recommendation degree requirement. The recommendation degree requirement may, for example, include a preset recommendation degree threshold (such as a recommendation degree ≥ 60) or other appropriate forms. As an example, if the recommendation degree of any of the lane units 305 (for example, the fourth lane unit) meets the recommendation degree requirement (for example, the recommendation degree thereof is 85, which is higher than the set threshold 60), the terminal device 110 can directly determine the fourth lane unit as the target parking position without further calculation or comparison of the passing cost. Such a "high-optimization direct selection" mechanism is applicable to scenarios where there is an obvious high-quality parking point, and can significantly improve the decision efficiency and service certainty. If the corresponding recommendation degree of each of the lane units 305 does not meet the recommendation degree requirement, it indicates that there is a lack of ideal parking points in the current region. In this case, the terminal device 110 can determine the target parking position for the vehicle 130 from the lane units 305 in the manner described above.

[0070] In this way, the optimal solution can be quickly locked when there is a high-recommendation-degree lane unit 305, thereby improving the response speed. Basic availability can still be ensured through refined cost evaluation when there is no ideal option.

[0071] In some embodiments, before determining the search starting point 303, the terminal device 110 can introduce a predetermined parking position. The predetermined parking position can refer to a guided parking position that is defined and marked in a high-precision map by an operator, a map service provider, or a platform in advance. As an example, if there is a predetermined parking position near (for example, within a range of 14 meters) the reference position 301 in the first map, the terminal device 110 can directly determine the predetermined parking position as the target parking position without performing subsequent complex processes such as search starting point 303 matching, lane unit 305 retrieval, and passing cost evaluation. In this way, the system response speed can be improved. If there is no predetermined parking position near the reference position 301 in the first map, the terminal device 110 can determine at least one search starting point 303 that matches the reference position 301 in the first map in the manner mentioned above, and determine the target parking position based on the search starting point 303.

[0072] Embodiments of the present disclosure also provide a corresponding apparatus for implementing the above-mentioned method or process. Figure 5 A schematic structural block diagram of an apparatus 500 for determining a parking position according to some embodiments of the present disclosure is shown. The apparatus 500 can be implemented as or included in the terminal device 110. Each module / component in the apparatus 500 can be implemented by hardware, software, firmware, or any combination thereof.

[0073] Reference is made to Figure 5The apparatus 500 includes a search starting point determination module 510, a search result determination module 520, and a parking location determination module 530. The search starting point determination module 510 is configured to determine, in a first map, at least one search starting point that matches a reference location in a second map, wherein the reference location is associated with a trip of a vehicle, the first map has a higher accuracy than the second map, and the at least one search starting point is located at a road edge in the first map. The search result determination module 520 is configured to determine, in the first map, at least one search result corresponding to the at least one search starting point, wherein each search result in the at least one search result indicates at least one lane unit in the first map that is located in a vicinity of the corresponding search starting point. The parking location determination module 530 is configured to determine, from the at least one lane unit, a target parking location for the vehicle based on at least respective navigation routes from the reference location to the respective lane units indicated by the at least one search result.

[0074] In some embodiments, the search starting point determination module 510 is further configured to, in response to determining that the reference location is located inside a venue, determine, as one of the at least one search starting point, a location in the first map that corresponds to an entrance or exit of the venue.

[0075] In some embodiments, the parking location determination module 530 is further configured to determine, in the first map, a first navigation route from the reference location to a first search starting point, determine, in the first map, a second navigation route from the first search starting point to a first lane unit, and obtain a navigation route to the first lane unit by combining the first navigation route and the second navigation route.

[0076] In some embodiments, the search starting point determination module 510 is further configured to, in response to the reference location being located in a vicinity of a road, determine, as one of the at least one search starting point, a location in the first map that corresponds to the reference location.

[0077] In some embodiments, the search result determination module 520 is further configured to search, in the first map, lane units in a vicinity of a second search starting point on at least one side of a first road where the second search starting point is located to obtain second lane units, and include the second lane units as at least a portion of a second search result corresponding to the second search starting point.

[0078] In some embodiments, the search result determination module 520 is further configured to search, in the first map, lane units in a vicinity of a second search starting point on at least one side of a second road that is connected to the first road to obtain third lane units, and include the second lane units and the third lane units as a second search result corresponding to the second search starting point.

[0079] In some embodiments, the parking position determining module 530 is further configured to determine a respective passing cost of each lane unit based on a respective navigation route from the reference position to each lane unit; and determine the target parking position based on at least the respective passing cost of each lane unit and the passing cost requirement.

[0080] In some embodiments, the parking position determining module 530 is further configured to adjust the respective passing cost of each lane unit based on the respective recommendation degree of each lane unit; and determine, for each lane unit, a lane unit whose adjusted respective passing cost satisfies the passing cost requirement as the target parking position.

[0081] In some embodiments, the parking position determining module 530 is further configured to determine a fourth lane unit in the respective lane units as the target parking position in response to that the recommendation degree of the fourth lane unit satisfies the recommendation degree requirement; and determine the target parking position for the vehicle from the respective lane units based on at least the respective navigation route from the reference position to each lane unit indicated by the at least one search result in response to that none of the respective recommendation degrees of the respective lane units satisfies the recommendation degree requirement.

[0082] In some embodiments, the parking position determining module 530 is further configured to determine, for a fifth lane unit in the respective lane units, whether a route from the reference position to the fifth lane unit crosses a road; determine a passing cost of the fifth lane unit based on a navigation route from the reference position to the fifth lane unit and a crossing cost of the crossing road in response to that the route crosses the road.

[0083] In some embodiments, the parking position determining module 530 is further configured to determine a respective priority of each lane unit based on a position type of a position where each lane unit is located; and determine the target parking position for the vehicle from the respective lane units based on the respective navigation route from the reference position to each lane unit indicated by the at least one search result and the respective priority of each lane unit.

[0084] In some embodiments, the position type comprises at least one of a motor vehicle lane, a non-motor vehicle lane or an intersection. A lane unit located at the motor vehicle lane has a first priority, a lane unit located at the non-motor vehicle lane has a second priority, a lane unit located at the intersection has a third priority, and the second priority is higher than the first priority and lower than the third priority.

[0085] In some embodiments, the search starting point determining module 510 is further configured to determine a predetermined parking position as the target parking position in response to that there is the predetermined parking position adjacent to the reference position in the first map; and determine at least one search starting point matching the reference position in the first map in response to that there is no predetermined parking position adjacent to the reference position in the first map.

[0086] Figure 6 A block diagram of an electronic device 600 in which one or more embodiments of the disclosure can be implemented is shown. The electronic device 600 can be used to implement, for example, a terminal device 110 as shown in Figure 1 or an apparatus 500 as shown in Figure 5 It should be understood that the electronic device 600 shown is merely an example which should not limit the scope of functionality, features or Figure 6 of the embodiments described herein.

[0087] Referring to Figure 6 , the electronic device 600 is in the form of a general-purpose electronic device. Components of the electronic device 600 can include, but are not limited to, one or more processors 610, a memory 620, a storage device 630, one or more communication units 640, one or more input devices 650, and one or more output devices 660. The processor 610 can be a real or virtual processor and is capable of performing various processing according to programs stored in the memory 620. In a multi-processor system, multiple processors perform computer-executable instructions in parallel to improve parallel processing capability of the electronic device 600.

[0088] The electronic device 600 typically includes a number of computer storage media. Such media can be any available media that is accessible by the electronic device 600 and includes both volatile and non-volatile media, removable and non-removable media. The memory 620 can be a volatile memory (e.g., registers, cache, random access memory (RAM)), a non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory), or some combination thereof. The storage device 630 can be a removable or non-removable media and can include machine-readable media, such as a flash drive, a magnetic disk drive, or any other media that can be used to store information and / or data and that can be accessed by the electronic device 600.

[0089] The electronic device 600 can further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 6 , a disk drive for reading from or writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable, non-volatile optical disk (e.g., a CD-ROM) can be provided. In these instances, each drive can be connected to the bus (not shown) by one or more data media interfaces. The memory 620 can include a computer program product 625 having one or more program modules configured to carry out the various methods or actions of the various embodiments of the present disclosure.

[0090] The communication unit 640 enables communication with other electronic devices via a communication medium. Additionally, the functionality of the components of the electronic device 600 can be implemented using a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the electronic device 600 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node.

[0091] Input device 650 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 660 can be one or more output devices, such as a monitor, speaker, printer, etc. Electronic device 600 can also communicate with one or more external devices (not shown) via communication unit 640 as needed. These external devices include storage devices, display devices, etc., and can communicate with one or more devices that enable user interaction with electronic device 600, or with any device that enables electronic device 600 to communicate with one or more other electronic devices (e.g., network card, modem, etc.). Such communication can be performed via input / output (I / O) interface (not shown).

[0092] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0093] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0094] These computer-readable 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, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0095] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0096] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0097] Various implementations of this disclosure have been described above. The foregoing description is exemplary and not exhaustive, nor is it limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is determined to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A method for determining a docking location, comprising: In a first map, at least one search starting point is determined that matches a reference location in a second map, wherein the reference location is associated with the vehicle's journey, the first map has higher accuracy than the second map, and the at least one search starting point is located at a road edge in the first map; In the first map, at least one search result corresponding to the at least one search starting point is determined, wherein each of the at least one search result indicates at least one lane unit in the first map located near the corresponding search starting point; as well as The target stopping position for the vehicle is determined from each lane cell based at least on the corresponding navigation route from the reference location to each lane cell indicated by the at least one search result.

2. The method of claim 1, wherein determining at least one search starting point that matches a reference location in the second map comprises: In response to determining that the reference location is located inside the site, the location in the first map corresponding to the entrance or exit of the site is determined as one of the at least one search starting point.

3. The method of claim 2, wherein, for the first search result corresponding to the first search starting point determined based on the import / export, the navigation route from the reference location to the first lane unit indicated by the first search result is determined in the following manner: In the first map, a first navigation route is determined from the reference location to the first search starting point; In the first map, a second navigation route is determined from the first search starting point to the first lane unit; and The navigation route for the first lane unit is obtained by combining the first navigation route with the second navigation route.

4. The method of claim 1, wherein determining at least one search starting point that matches a reference location in the second map comprises: In response to the reference location being near a road, the location in the first map corresponding to the reference location is determined as one of the at least one search starting point.

5. The method of claim 1, wherein, for the second search starting point among the at least one search starting point, the second search result corresponding to the second search starting point is determined by the following method: In the first map, at least one side of the first road where the second search starting point is located, lane units located near the second search starting point are searched to obtain the second lane unit; and The second lane unit is used as at least a part of the second search result corresponding to the second search starting point.

6. The method of claim 5, wherein determining the second search result corresponding to the second search starting point further comprises: In the first map, on at least one side of the second road connected to the first road, lane cells located near the second search starting point are searched to obtain the third lane cell; as well as The second lane unit and the third lane unit are used as the second search result corresponding to the second search starting point.

7. The method of claim 1, wherein determining the target parking location for the vehicle comprises: Based on the corresponding navigation routes from the reference location to each lane unit, the corresponding passage cost of each lane unit is determined; as well as The target stopping location is determined at least based on the corresponding passage costs and passage cost requirements of each lane unit.

8. The method of claim 7, wherein determining the target stopping location based at least on the respective toll costs and toll cost requirements of each lane unit comprises: Based on the recommendation level of each lane unit, the corresponding passage cost of each lane unit is adjusted. as well as For each lane unit, the lane unit whose adjusted corresponding toll cost meets the toll cost requirement is determined as the target stopping position.

9. The method according to claim 1, further comprising: In response to the fact that the recommendation degree of the fourth lane unit among the various lane units meets the recommendation degree requirement, the fourth lane unit is determined as the target parking position; as well as In response to the fact that the recommendation scores of each lane unit do not meet the recommendation score requirement, a target parking location for the vehicle is determined from each lane unit based at least on the corresponding navigation route from the reference location to each lane unit indicated by the at least one search result.

10. The method of claim 7, wherein determining the corresponding passage cost of each lane unit includes: For the fifth lane unit in each lane unit, determine whether the route from the reference position to the fifth lane unit crosses a road; In response to the route crossing, the passage cost of the fifth lane unit is determined based on the navigation route from the reference location to the fifth lane unit and the crossing cost of the crossing.

11. The method of claim 1, wherein determining the target stopping position for the vehicle from the respective lane units comprises: Based on the location type of each lane unit, the corresponding priority of each lane unit is determined. as well as Based on the corresponding navigation routes from the reference location to each lane unit indicated by the at least one search result and the corresponding priority of each lane unit, a target parking location for the vehicle is determined from the lane units.

12. The method of claim 11, wherein the location type comprises at least one of the following: Motor vehicle lane, Non-motorized vehicle lane, or Intersection; and Lane units located in the motor vehicle lane have a first priority, lane units located in the non-motor vehicle lane have a second priority, and lane units located at the intersection have a third priority, with the second priority being higher than the first priority and lower than the third priority.

13. The method of claim 1, further comprising: In response to the existence of a predetermined docking location in the first map that is close to the reference location, the predetermined docking location is determined as the target docking location; as well as In response to the absence of a predetermined docking location adjacent to the reference location in the first map, at least one search starting point matching the reference location is determined in the first map.

14. A device for determining a docking position, comprising: The search starting point determination module is configured to determine at least one search starting point in a first map that matches a reference location in a second map, wherein the reference location is associated with the vehicle's journey, the first map has higher accuracy than the second map, and the at least one search starting point is located at a road edge in the first map. The search result determination module is configured to determine at least one search result corresponding to the at least one search starting point in the first map, wherein each of the at least one search result indicates at least one lane unit in the first map located near the corresponding search starting point; as well as The parking location determination module is configured to determine a target parking location for the vehicle from each lane unit based at least on the corresponding navigation route from the reference location to each lane unit indicated by the at least one search result.

15. An electronic device comprising: At least one processor; as well as At least one memory coupled to the at least one processor and storing instructions for execution by the at least one processor, the instructions causing the electronic device to perform the method according to any one of claims 1 to 13 when executed by the at least one processor.

16. A computer-readable storage medium having stored thereon computer-executable instructions that can be executed by a processor to implement the method according to any one of claims 1 to 13.

17. A computer program product comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 13.

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