Parking method, device, equipment, medium, product and vehicle
By setting a target heading point and guiding the vehicle, the problem of path planning difficulties in automatic parking systems when the initial posture deviation is large is solved, thereby improving the parking success rate and efficiency and avoiding collisions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ROX MOTOR TECH CO LTD
- Filing Date
- 2026-05-27
- Publication Date
- 2026-06-26
AI Technical Summary
Existing automatic parking systems suffer from complex path planning, low parking efficiency, and even failure when the initial position of the vehicle deviates significantly from the ideal parking state.
By acquiring relevant information about the vehicle and parking space, a target heading point is set and the vehicle is guided toward that point until the heading is aligned, and parking is completed based on the target parking point.
It effectively corrects excessive directional deviations of vehicles before they begin parking, alleviates path planning difficulties, improves parking success rate and efficiency, and avoids collisions.
Smart Images
Figure CN122275862A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of intelligent vehicle technology, and particularly relates to a parking method, device, equipment, medium, product and vehicle. Background Technology
[0002] With the development of intelligent driving technology, automatic parking has become one of the key features for improving vehicle intelligence and user experience. Existing automatic parking systems typically rely on environmental perception sensors to identify parking spaces and control the vehicle to enter based on preset path planning algorithms. However, in practical applications, automatic parking solutions are not adaptable enough to different parking scenarios, especially when the initial vehicle position deviates significantly from the ideal parking state, which may lead to complex planning paths, low parking efficiency, or even parking failure. Summary of the Invention
[0003] This application provides a parking method, apparatus, equipment, medium, product, and vehicle that can improve parking success rate and efficiency.
[0004] In a first aspect, embodiments of this application provide a parking method, the method comprising: Acquire the vehicle's first dimension information, driving direction and location information, as well as the parking space type information, second dimension information, center point and target heading; If the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the position information indicates that the vehicle has not entered the parking space, or if the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold, the heading target point is determined based on the center point, the unit vector of the target heading, and the preset offset distance. Control the vehicle to travel toward the target heading until the location information indicates that the vehicle has entered the parking space, or the angle difference between the driving heading and the target heading is less than the heading alignment threshold. Based on the target parking point, control the vehicle to park within the parking space.
[0005] Secondly, embodiments of this application provide a parking device, the device comprising: The acquisition module is used to acquire the vehicle's first size information, driving direction and location information, as well as the parking space type information, second size information, center point and target direction; The first determining module is used to determine the heading target point based on the center point, the unit vector of the target heading, and a preset offset distance when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the position information indicates that the vehicle has not entered the parking space; or when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold. The control module is used to control the vehicle to travel toward the target heading until the location information indicates that the vehicle has entered the parking space, or the angle difference between the driving heading and the target heading is less than the heading alignment threshold. The parking module is used to control the vehicle to park in the parking space based on the target parking point.
[0006] Thirdly, embodiments of this application provide a parking device, the device comprising: Processor and memory storing programs or instructions; The processor implements the above methods when executing programs or instructions.
[0007] Fourthly, embodiments of this application provide a machine-readable storage medium storing a program or instructions that, when executed by a processor, implement the method described above.
[0008] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the above-described method.
[0009] Sixthly, embodiments of this application provide a vehicle, which includes a parking device; The parking device is used to perform the above method.
[0010] The parking method, apparatus, device, medium, product, and vehicle of this application embodiment can acquire first size information, driving direction, and position information of the vehicle, as well as type information, second size information, center point, and target direction of the parking space; when the type information indicates that the parking space is a perpendicular parking space, the target direction indicates that the vehicle is parking in the parking space backwards, and the position information indicates that the vehicle has not entered the parking space; or when the type information indicates that the parking space is a perpendicular parking space, the target direction indicates that the vehicle is parking in the parking space backwards, and the angle difference between the driving direction and the target direction is greater than or equal to the direction alignment threshold, a direction target point is determined based on the center point, the unit vector of the target direction, and a preset offset distance; the vehicle is controlled to drive towards the direction target point until the position information indicates that the vehicle has entered the parking space, or the angle difference between the driving direction and the target direction is less than the direction alignment threshold; and the vehicle is controlled to park within the parking space based on the target parking point.
[0011] In this way, by setting a target heading point and guiding the vehicle to that point first, it is possible to effectively correct excessive heading deviations before the vehicle begins parking or ensure that the vehicle starts parking from a reasonable position. This improves the problem of difficult path planning, the need for multiple maneuvers, or even the inability to park due to a large difference between the initial heading and the target heading, thereby increasing the parking success rate and efficiency. Attached Figure Description
[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0013] Figure 1 This is a schematic flowchart of the parking method provided in the embodiments of this application; Figure 2 This is a schematic diagram of the parking device provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0014] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.
[0015] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.
[0016] Furthermore, it should be noted that the acquisition, storage, use, and processing of data in the embodiments of this application all comply with the relevant provisions of national laws and regulations. It should also be noted that certain software, components, models, and other existing industry solutions may be mentioned in the embodiments of this application. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.
[0017] The parking method provided in the embodiments of this application will be described below.
[0018] Figure 1 A schematic flowchart of a parking method provided in one embodiment of this application is shown. Figure 1 As shown, this parking method may include: Step 101: Obtain the vehicle's first size information, driving direction and location information, as well as the parking space type information, second size information, center point and target heading.
[0019] In step 101, the first size information may include the length and width of the vehicle, the driving heading may indicate the current driving direction of the vehicle, and the position information may indicate the location of the vehicle, thereby determining the positional relationship between the vehicle and the parking lot. The vehicle's driving heading and position information can be monitored in real time.
[0020] Parking space type information can include perpendicular parking spaces, parallel parking spaces, or angled parking spaces, which can be used to select different types of parking spaces. Different parking strategies. Secondary dimension information can include the length and width of the parking lot. The center point can be the coordinates of the center point of the parking space. The target heading indicates the direction the vehicle is facing when parked in the space. The default target heading, i.e., the default heading, instructs the vehicle to park backwards into the parking space.
[0021] It can obtain the vehicle's first size information, driving direction and location information, as well as parking space type information, second size information, center point and target direction.
[0022] Step 102: When the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the position information indicates that the vehicle has not entered the parking space; or when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold, determine the heading target point based on the center point, the unit vector of the target heading, and the preset offset distance.
[0023] In step 102, the difficulty of reversing into a perpendicular parking space lies in the fact that the vehicle needs to be in a relatively... Within a limited space, a large-angle heading adjustment can be made. If the vehicle's heading deviates significantly as it approaches the parking space, the parking trajectory becomes complex, and parking may even be impossible. Therefore, for scenarios involving rearward parking in perpendicular spaces, adjustments can be made before the vehicle enters the parking space. When parking spaces or headings are not aligned, a heading target point is provided as an intermediate goal to guide vehicles to align their headings as they approach the parking space, simplifying subsequent parking. Since heading adjustments are relatively easy for angled and parallel parking spaces, heading target points are not required for these spaces.
[0024] Based on this, when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the position information indicates that the vehicle has not entered the parking space, or when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold, it can be considered that there is a need for guiding the heading. In this case, the heading target point can be determined based on the center point, the unit vector of the target heading, and the preset offset distance.
[0025] For example, first determine whether a heading target point needs to be set, as shown in formula (1): Where `should_set_fixed` indicates whether to set the target heading point, `is_vertical` indicates whether it is a perpendicular parking space, `task_type=kBackInParking` indicates whether the vehicle is parked from the rear, and `car_in_space` indicates whether the vehicle is within the parking space. `is_aligned` indicates whether the driving heading is aligned with the target heading, and `is_aligned = |NormalizeAngle(` car - target )∣< threshold_aligned ,in, car For the course of travel, target For the target course, threshold_aligned The heading alignment threshold can be set based on experience, with a value of 10-15 degrees, for example... threshold_aligned It can be set to 10 degrees.
[0026] If the conditions are met, the target point of the course is calculated using the formula shown in formula (2): in, Towards the target point, With the center point, Let be the unit vector representing the target heading. , For the target course, The preset offset distance can be set based on experience, with a value ranging from 0.3 to 0.5 meters, for example... It can be set to 0.4 meters.
[0027] Step 103: Control the vehicle to travel toward the target heading until the location information indicates that the vehicle has entered the parking space, or the angle difference between the driving heading and the target heading is less than the heading alignment threshold.
[0028] In step 103, after setting the target heading point, the vehicle can be controlled to move towards the target heading point as an intermediate target until the position information indicates that the vehicle has entered the parking space, or the angle difference between the driving heading and the target heading is less than the heading alignment threshold. That is, at this time the vehicle has entered the parking space, or the driving heading is aligned with the target heading, and the difficulty of parking the vehicle is greatly reduced. At this time, normal parking control steps can be performed.
[0029] Step 104: Based on the target parking point, control the vehicle to park within the parking space.
[0030] In step 104, the target parking spot can be set based on preset rules, such as setting the target parking spot with the vehicle centered in the parking space. In some examples, the specific methods for setting the target parking spot will be described in detail below.
[0031] It can control a vehicle to park within a parking space based on a target parking point. For example, it can control the rear axle center of the vehicle to reach the target parking point so that the vehicle is correctly parked in the parking space.
[0032] The parking method of this application embodiment can acquire first size information, driving direction and position information of the vehicle, as well as type information, second size information, center point and target direction of the parking space; when the type information indicates that the parking space is a perpendicular parking space, the target direction indicates that the vehicle is parking in the parking space backwards, and the position information indicates that the vehicle has not entered the parking space, or when the type information indicates that the parking space is a perpendicular parking space, the target direction indicates that the vehicle is parking in the parking space backwards, and the angle difference between the driving direction and the target direction is greater than or equal to the direction alignment threshold, a direction target point is determined based on the center point, the unit vector of the target direction and a preset offset distance; the vehicle is controlled to drive towards the direction target point until the position information indicates that the vehicle has entered the parking space, or the angle difference between the driving direction and the target direction is less than the direction alignment threshold; based on the target parking point, the vehicle is controlled to park in the parking space.
[0033] In this way, by setting a target heading point and guiding the vehicle to that point first, it is possible to effectively correct excessive heading deviations before the vehicle begins parking or ensure that the vehicle starts parking from a reasonable position. This improves the problem of difficult path planning, the need for multiple maneuvers, or even the inability to park due to a large difference between the initial heading and the target heading, thereby increasing the parking success rate and efficiency.
[0034] In some embodiments, the method may further include: When the type information indicates that the parking space is a perpendicular or parallel parking space, and the location information indicates that the vehicle is entering the parking space, detect whether there is a vehicle blocking block in the parking space. If there are vehicle blocking blocks in the parking space, obtain the location information of the vehicle blocking blocks; The target parking point is determined based on the location information of the vehicle blocking blocks.
[0035] In this embodiment, when the vehicle enters After parking, check if there are any bollards or other obstacles in the parking space. Bollards are common in parking spaces. Facilities, usually indivual Long, narrow obstacles made of mud or rubber are placed at the stop Tail end, To limit the distance vehicles can travel, and to prevent The vehicle crashes into a wall or other facility. If there is a barrier, the target parking point is calculated based on the location of the barrier, causing the vehicle to stop in front of the barrier to avoid a collision.
[0036] It is understandable that angled parking spaces typically do not use wheel stops, or the impact of wheel stops is minimal. Therefore, angled parking spaces can be excluded, and perpendicular parking spaces can be used instead. Parking spaces are used as barriers to prevent vehicles from entering.
[0037] Furthermore, setting a heading target point indicates that the vehicle has not yet entered the target area. Parking spaces should not be adjusted based on the car stop blocks at this time. Mark parking spots. The system only activates when a vehicle approaches a parking space. Vehicle blocking block handling.
[0038] The expression for whether the vehicle blocking block needs to be processed is shown in formula (3): Among them, should_deal_barriers indicates whether to handle the blocking blocks, barriers_empty indicates whether there are blocking blocks, is_tilting indicates whether it is a slanted train position, and should_set_fixed indicates whether to set the heading target point.
[0039] Therefore, it is possible to detect whether there are any obstructions in the parking space when the type information indicates that the parking space is a perpendicular or parallel parking space and the location information indicates that the vehicle has entered the parking space.
[0040] If there are obstructions within the parking space, the location information of the obstructions can be obtained, and the target parking point can be determined based on the location information of the obstructions.
[0041] In this way, by actively detecting and utilizing the location information of the parking blocks to determine the final target parking point, collisions between the vehicle and the parking blocks can be effectively avoided during parking, ensuring parking safety.
[0042] In some embodiments, determining the target parking point based on the location information of the vehicle blocking block may include: Based on the location information of the vehicle blocking block, determine the projection of the corner points of the vehicle blocking block along the target heading; Determine the head point of the vehicle blocking block based on the projection; Determine the projection point of the head point onto the guide line; the guide line is a ray extending from the center point in the opposite direction to the target's heading; The target parking point is determined based on the projection point, the unit vector of the target heading, and the preset tire buffer distance.
[0043] In this embodiment, the projection of the corner points of the vehicle blocking block along the target heading can be determined based on the position information of the blocking block, as shown in formula (4): Among them, projection( i ) is a point Projection along the target heading, Let the set of corner points of the blocking block be the set of corner points. Let be the unit vector representing the target heading. , For the target course.
[0044] The head point of the vehicle blocking block can be determined based on the projection. The head point is the point with the largest projection along the target heading, as shown in formula (5): Among them, projection( i ) is a point Projection along the target heading, This is the head point of the vehicle blocking block.
[0045] A guide line can be constructed, which is a ray extending from the center point in the opposite direction to the target heading, as shown in formula (6): in, For guiding lines, With the center point, Here is the unit vector for the target heading, and FromRay() is the function that constructs the guide line.
[0046] The projection point of the head point onto the guide line can be determined, as shown in formula (7): in, Let be the projection point. The head point of the vehicle blocking block. The normal vector of the guide line is perpendicular to the target heading. Its value is The normal vector points to the left of the target's heading. Let be the signed distance from the origin of the world coordinate system to the line, and be the offset of the guide line. To determine the position of the guide line.
[0047] The target parking point can be determined based on the projection point, the unit vector of the target heading, and the preset tire buffer distance. The formula for calculating the target parking point is shown in formula (8): in, For the target parking spot, Let be the projection point. Let be the unit vector representing the target heading. , For the target course, The preset tire buffer distance can be set based on experience, with a value ranging from 0.1 to 0.3 meters. For example... It can be set to 0.2 meters.
[0048] In this way, by projecting the head point of the vehicle blocking block onto the guide line and combining it with the preset tire buffer distance, a safe and reasonable final parking position can be scientifically calculated, improving the accuracy and reliability of the target parking point calculation.
[0049] In some embodiments, the method may further include: If there are no obstructions within the parking space, the target parking point is determined based on the first and second dimension information.
[0050] If there are no obstructions within the parking space, the target parking spot can be determined based on the first and second dimension information. For example, with the goal of parking the vehicle centered in the parking space, the target parking spot can be calculated based on the first and second dimension information.
[0051] In this way, by determining the target parking point based on vehicle and parking space size information, reasonable and standardized parking can be achieved even in standard empty parking space scenarios, ensuring the universality of the method.
[0052] In some embodiments, determining the target parking point based on the first size information and the second size information may include: If the difference between the second size information and the first size information is greater than the margin threshold, and the type information indicates that the parking space is a perpendicular parking space or a parallel parking space, the first parking point is determined as the target parking point, so that when the vehicle completes parking based on the first parking point, the distance between the rear end of the vehicle and the rear edge line of the parking space is the first distance threshold, and the first distance threshold is less than the distance between the front end of the vehicle and the front edge line of the parking space. If the difference between the second size information and the first size information is less than or equal to the margin threshold, or if the type information indicates that the parking space is an angled parking space, the second parking point is determined as the target parking point so that when the vehicle completes parking based on the second parking point, the center point of the vehicle coincides with the center point of the parking space.
[0053] In this embodiment, it can be based on the parking space To determine whether the target parking point is sufficient, different target parking point calculation strategies are employed.
[0054] The key to calculating the target parking point is determining the distance from the rear axle of the vehicle to the parking space. The vector represents the offset of the vehicle's rear axle relative to the center point of the parking space when the vehicle is parked in the designated position. The target parking point, i.e., the position of the vehicle's rear axle, can be obtained by subtracting this vector from the center point of the parking space.
[0055] If the difference between the second dimension information and the first dimension information is greater than the margin threshold, then the parking space can be considered long enough to allow the rear of the vehicle to maintain a shorter distance from the rear line of the parking space, i.e., the first distance threshold, while ensuring a longer distance between the front of the vehicle and the front line of the parking space. This prevents the rear of the vehicle from being flush against the rear line of the parking space, leaving a buffer and reducing the risk of collision. Risk. More space at the front of the vehicle makes it easier to straighten the front and drive out later.
[0056] The margin threshold and the first distance threshold can be set based on empirical values. For example, the margin threshold can be 0.8 meters and the first distance threshold can be 0.35 meters.
[0057] If the difference between the second size information and the first size information is less than or equal to the margin threshold, then the parking space can be considered as... Due to limitations, it is possible to adopt The centering strategy ensures that the center point of the vehicle coincides with the center point of the parking space, maximizing the safe distance between the front and rear ends of the vehicle.
[0058] For angled parking spaces, since their parking trajectories are usually more complex and require more front and rear space adjustments, a centering strategy is adopted regardless of the length of the parking space.
[0059] For example, the formula for calculating the target parking point can be shown in formula (9): in, For the target parking spot, With the center point, This is the vector from the rear axle of the vehicle to the center point.
[0060] Specifically, if the difference between the second size information and the first size information is greater than the margin threshold, and the type information indicates that the parking space is a perpendicular parking space or a parallel parking space, The expression is shown in formula (10): in, The length of the parking space. The first distance threshold, This is the distance from the rear axle of the vehicle to the rear end of the vehicle.
[0061] If the difference between the second size information and the first size information is less than or equal to the margin threshold, or if the type information indicates that the parking space is an angled parking space. The expression is shown in formula (11): in, The length of the parking space. This is the distance from the rear axle of the vehicle to the rear end of the vehicle.
[0062] In this way, a margin threshold is introduced as a judgment condition to realize differentiated parking strategies. For parking spaces with ample space, a rear-parking strategy is adopted to facilitate passenger exit and leave more space for the front of the car, which is more in line with actual needs. For parking spaces with limited space or special types of parking spaces, a center-alignment strategy is adopted to maximize the use of limited space and ensure that the vehicle is centered to avoid scratches, thereby improving the humanization of parking results and the rationality of space utilization.
[0063] In some embodiments, the method may further include: Get the default heading of the parking space; the default heading indicates that the vehicle should be parked backwards into the parking space. When the type information indicates that the parking space is an angled parking space, determine the angle difference between the driving heading and the default heading; If the angle difference is greater than or equal to the first angle threshold, adjust the default heading to obtain the target heading; If the angle difference is less than the first angle threshold, the default heading will be determined as the target heading.
[0064] In this embodiment, the parking scenario is divided into two modes: vehicle parking forward and vehicle parking backward. For the same... For each parking space, the vehicles must face opposite directions when parking forward or backward.
[0065] The default heading of a parking space can instruct a vehicle to park backwards into the space, with the rear of the vehicle facing inwards.
[0066] Because the entrance angle of the inclined train parking space is between vertical and horizontal Between different approaches to a parking space, the difficulty of parking forward versus backward varies significantly. Therefore, in some cases, the default heading may not be sufficient. To find a feasible parking trajectory, it is necessary to try reverse parking.
[0067] Therefore, when the type information indicates that the parking space is an angled parking space, the angle difference between the driving direction and the default direction can be determined. The expression for the angle difference is shown in formula (12): in, Due to the angle difference, For the course of travel, This is the default heading. NormalizeAngle ( ) is for return The function restricts the heading angle to [- π , π The formula is shown in formula (13): in, It's a modulo operation that maps the angle to [ The range is 2π, 2π.
[0068] If the angle difference is greater than or equal to the first angle threshold, adjust the default heading by rotating it 180 degrees to obtain the target heading. If the angle difference is less than the first angle threshold, then the default heading is determined as the target heading.
[0069] The first angle threshold can be set based on experience, and will not be specified here. For example, the first angle threshold can be 95 degrees.
[0070] In other words, the angle between the vehicle's heading and the target heading is a crucial factor in determining whether to park forward or backward. When the angle is large, such as... When the angle is ≥95 degrees, forward berthing is generally more effective. However, the parking trajectory is shorter and the steering angle is smaller. When the angle is small, rearward parking is more suitable.
[0071] This addresses the issue where directly using the default heading might be inapplicable when there's a significant angle between the vehicle's driving direction and the default heading of the angled parking space. By assessing the angle difference and adjusting the default heading accordingly to obtain a more reasonable target heading, the parking path planning for angled parking spaces better aligns with the actual lane geometry, improving the feasibility and smoothness of parking in angled spaces.
[0072] In some embodiments, the method may further include: If the location information indicates that the distance between the vehicle and the target parking point is less than the second distance threshold, the angle difference between the driving direction and the target direction is less than the second angle threshold, and the target direction indicates that the vehicle is parking in the parking space backwards, or if the location information indicates that the distance between the vehicle and the target parking point is less than the second distance threshold, the angle difference between the driving direction and the target direction is less than the second angle threshold, and the type information indicates that the parking space is a parallel parking space, then the boundary line information of the parking space is detected. Update the target parking point based on the boundary line information; Based on the updated target parking location, control the vehicle to park within the parking space.
[0073] In this embodiment, it is determined whether real-time perceived parking space boundary information should be used to target the parking spot. Precise adjustments are made. Boundary line information updates are only activated when the vehicle is close to the target parking point, the driving course is basically aligned, and only for rear parking and parallel parking tasks, to ensure the reliability of the boundary line information.
[0074] Based on this, the boundary information of the parking space can be detected when the location information indicates that the distance between the vehicle and the target parking point is less than the second distance threshold, the angle difference between the driving direction and the target direction is less than the second angle threshold, and the target direction indicates that the vehicle is parking in the parking space backwards; or when the location information indicates that the distance between the vehicle and the target parking point is less than the second distance threshold, the angle difference between the driving direction and the target direction is less than the second angle threshold, and the type information indicates that the parking space is a parallel parking space.
[0075] The second distance threshold and the second angle threshold can be determined according to actual needs. For example, the second distance threshold can be set to 3 to 5 meters, and the second angle threshold can be set to 30 to 40 degrees.
[0076] If the second distance threshold is 4 meters, the second angle threshold is 30 degrees, the distance between the vehicle and the target parking point is less than 4 meters, and the angle difference between the driving direction and the target direction is less than 30 degrees, then the detected boundary line information is considered to be accurate and reliable.
[0077] The boundary lines of a parking space are its physical boundaries, such as parking lines and walls, and are detected in real time by a sensing system. (Boundary line information) The polygonal areas of parking spaces are more precise, especially when a vehicle approaches a parking space, the visual sensors can clearly identify the position and direction of the boundary lines.
[0078] The target parking point can be updated based on boundary line information, and then the vehicle can be controlled to park within the parking space based on the updated target parking point. By updating the boundary lines, accumulated errors in previous calculations can be corrected, significantly improving parking accuracy and ensuring that the vehicle is ultimately parked in the center of the parking space, parallel to the parking space line.
[0079] In one specific embodiment, the target parking point can be determined first. For example, if the parking space is a perpendicular or parallel parking space, and the location information indicates that the vehicle is entering the parking space, the presence of a vehicle blocking block within the parking space is detected. If a vehicle blocking block exists within the parking space, its location information is obtained, and the target parking point is determined based on this information. If no vehicle blocking block exists within the parking space, the target parking point is determined based on the first and second dimension information. The specific determination method is as described above and will not be repeated here.
[0080] After determining the target parking point, the vehicle is controlled to park within the parking space based on the target parking point. If the distance between the vehicle and the target parking point is less than a second distance threshold, and the angle difference between the driving direction and the target direction is less than a second angle threshold, and if the vehicle is in a rear-entry parking space or parallel parking space scenario, the target parking point can be updated based on the boundary line information. Based on the updated target parking point, the vehicle is controlled to park within the parking space until parking is completed.
[0081] In this way, when the vehicle approaches the preset target parking point and the course is basically aligned, the final parking point is updated by detecting the parking space boundary information again. This can effectively correct the problem of inaccurate initial target parking point caused by parking space recognition error, sensor noise or environmental changes, thereby improving the final accuracy of parking.
[0082] In some embodiments, updating the target parking point based on boundary line information may include: Determine the midpoints of the first and second ends of the left and right boundary lines; Determine the baseline vector based on the midpoints of the first and second ends; Based on the baseline vector and the target parking point, determine the updated target parking point.
[0083] In this embodiment, the left and right boundary lines each have two endpoints, namely the front end point and the rear end point. By calculating the midpoints of the corresponding endpoints of the left and right boundary lines, the midpoints of the two boundary lines can be obtained, namely the first end midpoint and the second end midpoint. The calculation formula is shown in formula (14): in, , These are the midpoints of the first end and the midpoints of the second end, respectively. These are the endpoints of the first and second ends of the left boundary line, respectively. These are the first and second endpoints of the right boundary line, respectively.
[0084] The baseline vector can be determined based on the midpoints of the first and second ends. The formula for calculating the baseline vector is shown in formula (15): Taking the rear-entry berthing scenario as an example... , These are the front-end midpoint and the back-end midpoint, respectively. This is the baseline vector.
[0085] The updated target parking point can be determined based on the baseline vector and the target parking point. The calculation formula is shown in formula (16): in, For the updated target parking location, For the target parking spot, The midpoint of the front end, This is the baseline vector.
[0086] In some examples, the target heading can also be updated based on the baseline vector. The updated target heading is shown in formula (17): in, For the updated target heading, This is the baseline vector.
[0087] In this way, by mapping the original target point to the reference direction defined by the boundary line detected in real time, the updated parking point can be better aligned with the actual direction and position of the parking space, further ensuring that the fine-tuned parking position not only conforms to the vehicle's heading but also maintains an ideal relationship with the parking space boundary, thus improving the accuracy of the final parking posture.
[0088] Based on the parking method provided in the above embodiments, this application also provides an embodiment of a parking device.
[0089] Figure 2 A schematic diagram of a parking device provided in another embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.
[0090] Reference Figure 2 The parking device 200 may include: The acquisition module 201 is used to acquire the vehicle's first size information, driving direction and position information, as well as the parking space type information, second size information, center point and target direction; The first determining module 202 is used to determine the heading target point based on the center point, the unit vector of the target heading, and a preset offset distance when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the position information indicates that the vehicle has not entered the parking space; or when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold. Control module 203 is used to control the vehicle to travel toward the target heading until the location information indicates that the vehicle enters the parking space, or the angle difference between the travel heading and the target heading is less than the heading alignment threshold. Parking module 204 is used to control the vehicle to park in the parking space based on the target parking point.
[0091] In some embodiments, the parking device 200 may further include a second determining module for: When the type information indicates that the parking space is a perpendicular or parallel parking space, and the location information indicates that the vehicle is entering the parking space, detect whether there is a vehicle blocking block in the parking space. If there are vehicle blocking blocks in the parking space, obtain the location information of the vehicle blocking blocks; The target parking point is determined based on the location information of the vehicle blocking blocks.
[0092] In some embodiments, the second determining module may be specifically used for: Based on the location information of the vehicle blocking block, determine the projection of the corner points of the vehicle blocking block along the target heading; Determine the head point of the vehicle blocking block based on the projection; Determine the projection point of the head point onto the guide line; the guide line is a ray extending from the center point in the opposite direction to the target's heading; The target parking point is determined based on the projection point, the unit vector of the target heading, and the preset tire buffer distance.
[0093] In some embodiments, the parking device 200 may further include a third determining module for: If there are no obstructions within the parking space, the target parking point is determined based on the first and second dimension information.
[0094] In some embodiments, the third determining module may specifically be used for: If the difference between the second size information and the first size information is greater than the margin threshold, and the type information indicates that the parking space is a perpendicular parking space or a parallel parking space, the first parking point is determined as the target parking point, so that when the vehicle completes parking based on the first parking point, the distance between the rear end of the vehicle and the rear edge line of the parking space is the first distance threshold, and the first distance threshold is less than the distance between the front end of the vehicle and the front edge line of the parking space. If the difference between the second size information and the first size information is less than or equal to the margin threshold, or if the type information indicates that the parking space is an angled parking space, the second parking point is determined as the target parking point so that when the vehicle completes parking based on the second parking point, the center point of the vehicle coincides with the center point of the parking space.
[0095] In some embodiments, the parking device 200 may further include a fourth determining module, for: Get the default heading of the parking space; the default heading indicates that the vehicle should be parked backwards into the parking space. When the type information indicates that the parking space is an angled parking space, determine the angle difference between the driving heading and the default heading; If the angle difference is greater than or equal to the first angle threshold, adjust the default heading to obtain the target heading; If the angle difference is less than the first angle threshold, the default heading will be determined as the target heading.
[0096] In some embodiments, the parking device 200 may further include an update module for: If the location information indicates that the distance between the vehicle and the target parking point is less than the second distance threshold, the angle difference between the driving direction and the target direction is less than the second angle threshold, and the target direction indicates that the vehicle is parking in the parking space backwards, or if the location information indicates that the distance between the vehicle and the target parking point is less than the second distance threshold, the angle difference between the driving direction and the target direction is less than the second angle threshold, and the type information indicates that the parking space is a parallel parking space, then the boundary line information of the parking space is detected. Update the target parking point based on the boundary line information; Based on the updated target parking location, control the vehicle to park within the parking space.
[0097] In some embodiments, the update module may specifically be used for: Determine the midpoints of the first and second ends of the left and right boundary lines; Determine the baseline vector based on the midpoints of the first and second ends; Based on the baseline vector and the target parking point, determine the updated target parking point.
[0098] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application, and are devices corresponding to the above-mentioned parking method. All implementation methods in the above-mentioned method embodiments are applicable to the embodiments of this device. For details on its specific functions and the technical effects it brings, please refer to the method embodiment section, which will not be repeated here.
[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0100] Figure 3 A schematic diagram of the hardware structure of an electronic device provided in yet another embodiment of this application is shown.
[0101] The device may include a processor 301 and a memory 302 storing programs or instructions.
[0102] When processor 301 executes the program, it implements the steps in any of the above method embodiments.
[0103] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 302 and executed by processor 301 to complete this application. The one or more modules / units can be a series of program instruction segments capable of performing a specific function, which describe the execution process of the program in the device.
[0104] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0105] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.
[0106] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) machine-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.
[0107] The processor 301 implements any of the methods described above by reading and executing programs or instructions stored in the memory 302.
[0108] In one example, the electronic device may also include a communication interface 303 and a bus 304. The processor 301, memory 302, and communication interface 303 are connected via the bus 304 and communicate with each other.
[0109] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.
[0110] Bus 304 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 304 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.
[0111] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a machine-readable storage medium for implementation. This machine-readable storage medium stores a program or instructions; when executed by a processor, the program or instructions implement any of the methods in the above embodiments. This machine-readable storage medium can be read by a machine such as a computer.
[0112] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.
[0113] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0114] This application provides a computer program product stored in a machine-readable storage medium. The program product is executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, it will not be described again here.
[0115] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.
[0116] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.
[0117] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.
[0118] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by a computer program or instructions. These programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.
[0119] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.
Claims
1. A parking method, characterized in that, include: Acquire the vehicle's first dimension information, driving direction and location information, as well as the parking space type information, second dimension information, center point and target heading; When the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the position information indicates that the vehicle has not entered the parking space; or when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space from the rear, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold, the heading target point is determined based on the center point, the unit vector of the target heading, and the preset offset distance. Control the vehicle to travel toward the target heading until the location information indicates that the vehicle enters the parking space, or the angle difference between the travel heading and the target heading is less than the heading alignment threshold; Based on the target parking point, control the vehicle to park within the parking space.
2. The method according to claim 1, characterized in that, The method further includes: When the type information indicates that the parking space is a perpendicular or parallel parking space, and the location information indicates that the vehicle is entering the parking space, detect whether there is a vehicle blocking block in the parking space; If the vehicle blocking block is present in the parking space, obtain the location information of the vehicle blocking block; The target parking point is determined based on the location information of the vehicle blocking block.
3. The method according to claim 2, characterized in that, Determining the target parking point based on the location information of the vehicle blocking block includes: Based on the position information of the vehicle blocking block, determine the projection of the corner points of the vehicle blocking block along the target heading; The head point of the vehicle blocking block is determined based on the projection. Determine the projection point of the head point onto the guide line; the guide line is a ray extending from the center point in the opposite direction to the target heading; The target parking point is determined based on the projection point, the unit vector of the target heading, and the preset tire buffer distance.
4. The method according to claim 2, characterized in that, The method further includes: If the vehicle blocking block is not present in the parking space, the target parking point is determined based on the first size information and the second size information.
5. The method according to claim 4, characterized in that, Determining the target parking point based on the first size information and the second size information includes: If the difference between the second size information and the first size information is greater than the margin threshold, and the type information indicates that the parking space is a perpendicular parking space or a parallel parking space, the first parking point is determined as the target parking point, so that when the vehicle completes parking based on the first parking point, the distance between the rear end of the vehicle and the rear edge line of the parking space is a first distance threshold, and the first distance threshold is less than the distance between the front end of the vehicle and the front edge line of the parking space. If the difference between the second size information and the first size information is less than or equal to the margin threshold, or if the type information indicates that the parking space is an angled parking space, the second parking point is determined as the target parking point, so that when the vehicle completes parking based on the second parking point, the center point of the vehicle coincides with the center point of the parking space.
6. The method according to claim 1, characterized in that, The method further includes: Obtain the default heading of the parking space; the default heading indicates that the vehicle should be parked backwards into the parking space; If the type information indicates that the parking space is an angled parking space, determine the angle difference between the driving direction and the default direction; If the angle difference is greater than or equal to the first angle threshold, adjust the default heading to obtain the target heading; If the angle difference is less than the first angle threshold, the default heading is determined as the target heading.
7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: When the location information indicates that the distance between the vehicle and the target parking point is less than a second distance threshold, the angle difference between the driving direction and the target direction is less than a second angle threshold, and the target direction indicates that the vehicle is parking in the parking space backwards; or when the location information indicates that the distance between the vehicle and the target parking point is less than a second distance threshold, the angle difference between the driving direction and the target direction is less than a second angle threshold, and the type information indicates that the parking space is a parallel parking space, the boundary line information of the parking space is detected. The target parking point is updated based on the boundary line information; Based on the updated target parking location, control the vehicle to park in the parking space.
8. The method according to claim 7, characterized in that, The step of updating the target parking point based on the boundary line information includes: Determine the midpoints of the first and second ends of the left and right boundary lines; Determine the baseline vector based on the midpoint of the first end and the midpoint of the second end; Based on the baseline vector and the target parking point, the updated target parking point is determined.
9. A parking device, characterized in that, include: The acquisition module is used to acquire the vehicle's first size information, driving direction and location information, as well as the parking space type information, second size information, center point and target direction; The first determining module is configured to determine a heading target point based on the center point, the unit vector of the target heading, and a preset offset distance when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space backwards, and the position information indicates that the vehicle has not entered the parking space; or when the type information indicates that the parking space is a perpendicular parking space, the target heading indicates that the vehicle is parking in the parking space backwards, and the angle difference between the driving heading and the target heading is greater than or equal to the heading alignment threshold. The control module is used to control the vehicle to travel toward the target heading until the location information indicates that the vehicle enters the parking space, or the angle difference between the travel heading and the target heading is less than the heading alignment threshold. The parking module is used to control the vehicle to park in the parking space based on the target parking point.
10. An electronic device, characterized in that, The device includes: a processor and a memory storing programs or instructions; When the processor executes the program or instructions, it implements the method as described in any one of claims 1-8.
11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores a program or instructions that, when executed by a processor, implement the method as described in any one of claims 1-8.
12. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the method as described in any one of claims 1-8.
13. A vehicle, characterized in that, The vehicle includes a parking device; The parking device is used to perform the method as described in any one of claims 1-8.