Parallel parking target point position adjustment method and device, and vehicle

Abstract

The application discloses a parallel parking target point position adjustment method and device and a vehicle. The method comprises the following steps: constructing a vehicle bounding box of the vehicle at an initial position of a parking target point according to geometric parameter information of the vehicle and target parking information; determining an outbound edge line of the vehicle according to an outbound direction and the vehicle bounding box; determining a target obstacle located in the vehicle bounding box according to an obstacle position in obstacle information and a position of the vehicle bounding box; determining displacement information of the parking target point according to a type of the target obstacle and a position relationship between the target obstacle and the outbound edge line; and adjusting the parking target point from the initial position to a target position according to the displacement information. The method can reasonably determine the parking target point, improve the matching degree of the parking target point and an actual parking environment, and improve the parking efficiency under the condition of ensuring the safety of parking.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, device, and vehicle for adjusting the target point position during parallel parking. Background Technology

[0002] As vehicles become increasingly intelligent, automatic parking is gradually being implemented. During automatic parking, the vehicle typically determines the target parking spot based on the target parking space information and then plans the parking path accordingly.

[0003] However, in real-world parking environments, there may be objects that affect parking space. If the parking target point is not adjusted according to the actual parking environment, the vehicle's parking position may not match the available parking space, affecting parking safety and efficiency.

[0004] Therefore, how to reasonably determine parking target points to improve the matching degree between parking target points and actual parking environment, and improve parking efficiency while ensuring parking safety, is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method, device, vehicle, computer-readable storage medium, and computer program product for adjusting the target point position of parallel parking. It can reasonably determine the parking target point to improve the matching degree between the parking target point and the actual parking environment, thereby improving parking efficiency while ensuring parking safety.

[0006] In a first aspect, embodiments of this application provide a method for adjusting the position of a target point for parallel parking, including: Acquire vehicle geometric parameters, target parking information, exit direction, and obstacle information. Target parking information includes target parking space information and the initial position of the target parking point. Based on the vehicle's geometric parameters and target parking information, construct the vehicle bounding box at the initial position of the target parking point; Determine the vehicle's exit edge line based on the exit direction and the vehicle's body box; Based on the obstacle location and the vehicle enclosure location in the obstacle information, determine the target obstacle located within the vehicle enclosure. Based on the type of the target obstacle and its positional relationship with the exit edge line, determine the displacement information of the parking target point; Based on the displacement information, the parking target point is adjusted from the initial position to the target position. In some possible implementations, the vehicle's exit edge line is determined based on the exit direction and the vehicle's surround box, including: Determine the corner point of the vehicle body kit on the side facing out of the warehouse; Based on the corner points, determine the exit edge line of the vehicle body box on the exit direction side.

[0007] In some possible implementations, the displacement information of the parking target point is determined based on the type of the target obstacle and its positional relationship with the exit edge line, including: When the type of the target obstacle is the first obstacle, the first target obstacle is selected from the target obstacles whose center point height value is greater than a preset height threshold; the first obstacle type is the type of obstacle sensed by multiple sensing devices; The first target obstacle is selected from the first target obstacles, and the obstacle whose center point is located within the vehicle's body box is obtained as the second target obstacle; The center point of the second target obstacle is determined as the obstacle point corresponding to the second target obstacle; Based on the positional relationship between the obstacle location and the exit edge line, the displacement information of the parking target point is determined.

[0008] In some possible implementations, determining the displacement information of the parking target point based on the type of the target obstacle and its positional relationship with the exit edge line also includes: If the type of the target obstacle is the second obstacle, then target obstacles with an overlap area greater than zero between the obstacle area and the vehicle surround box are selected from the target obstacles to obtain the third target obstacle; the second obstacle type includes the obstacle type obtained by ultrasonic detection; Determine the overlapping area between the obstacle area of ​​the third target obstacle and the vehicle body box; The feature points in the overlapping area are identified as the obstacle points corresponding to the third target obstacle; Based on the positional relationship between the obstacle location and the exit edge line, the displacement information of the parking target point is determined.

[0009] In some possible implementations, the displacement information includes the distance traveled. Based on the positional relationship between the obstacle location and the exit edge line, the displacement information of the parking target point is determined, including: Determine the target distance between each obstacle location and the exit edge line; obstacle locations are used to indicate the position of the corresponding target obstacle; Based on the width of the vehicle enclosure in the outbound direction and the distance to each target, determine the first moving distance corresponding to each obstacle point; The movement distance to the parking target point is determined based on each initial movement distance.

[0010] In some possible implementations, the movement distance to the parking target point is determined based on each first movement distance, including: Select the first target movement distance that is less than the first movement threshold from each of the first movement distances; If the movement distance of any first target is greater than or equal to the second movement threshold, the second movement threshold is determined as the movement distance of the second target; wherein the second movement threshold is less than the first movement threshold; If the movement distance of each first target is less than the second movement threshold, the maximum value among the movement distances of each first target is determined as the movement distance of the second target. The distance the second target moves is defined as the distance the parking target point moves.

[0011] In some possible implementations, the vehicle's geometric parameters include the vehicle's length, width, and offset distance between the vehicle reference point and the center of the vehicle's bounding box; the target parking space information includes the target heading angle. Based on the vehicle's geometric parameters and target parking information, construct the vehicle's bounding box at the initial position of the target parking point, including: Determine the target heading of the vehicle at its initial position at the parking target point based on the target heading angle; The initial position of the parking target point is used as the position of the vehicle reference point. The center position of the vehicle surround box is determined based on the offset distance between the vehicle reference point and the center position of the vehicle surround box. Get the preset width threshold; The width of the vehicle enclosure box is determined based on the vehicle width and a preset width threshold. Construct the vehicle bounding box based on the center position of the vehicle bounding box, the target heading, the vehicle length, and the width of the vehicle bounding box.

[0012] Secondly, embodiments of this application provide a target point position adjustment device for parallel parking, comprising: The acquisition module is used to acquire the vehicle's geometric parameters, target parking information, exit direction, and obstacle information. The target parking information includes the target parking space information and the initial position of the target parking point. The building module is used to construct the vehicle bounding box at the initial position of the vehicle at the target parking point based on the vehicle's geometric parameters and target parking information. The determination module is used to determine the vehicle's exit edge line based on the exit direction and the vehicle's enclosure box. The determination module is also used to determine the target obstacle located within the vehicle enclosure based on the obstacle position in the obstacle information and the position of the vehicle enclosure box; The determination module is also used to determine the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line; The adjustment module is used to adjust the parking target point from the initial position to the target position based on the displacement information.

[0013] Thirdly, embodiments of this application provide a vehicle, including: a target point position adjustment device for parallel parking as described in the second aspect.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the target point position adjustment method for parallel parking as described in any of the first aspects above.

[0015] Fifthly, a computer program product comprising a computer program, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the target point position adjustment method for parallel parking as described in any of the first aspects above.

[0016] In the parallel parking target point adjustment method provided in this application embodiment, the parking target point is not simply adjusted based on the presence or absence of obstacles. Instead, a vehicle bounding box is first constructed at the initial position of the parking target point based on vehicle geometric parameters and target parking information. Then, the exit edge line is determined based on the exit direction and the vehicle bounding box, and target obstacles are screened based on the vehicle bounding box. The corresponding obstacle point is determined according to the type of target obstacle, and the displacement information of the parking target point is determined based on the positional relationship between the obstacle point and the exit edge line. Through the above method, the adjustment amount of the parking target point can comprehensively reflect the actual occupied range of the vehicle, the side boundary of the exit direction, the type of target obstacle, and the positional relationship of the target obstacle relative to the exit edge line, thereby reasonably determining the parking target point, improving the matching degree between the parking target point and the actual parking environment, and improving parking efficiency while ensuring parking safety. Attached Figure Description

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

[0018] Figure 1 This is a flowchart illustrating a method for adjusting the target point position of parallel parking provided in an embodiment of this application; Figure 2 This is one of the flowcharts illustrating a target obstacle screening process provided in an embodiment of this application; Figure 3 This is a second schematic flowchart of a target obstacle screening process provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a target point position adjustment device for parallel parking provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device for adjusting the target point position of parallel parking, provided in an embodiment of this application. Detailed Implementation

[0019] The features and exemplary embodiments of various aspects of this application will now be described in detail. To make the advantages, technical solutions, and benefits 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 intended only 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.

[0020] 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.

[0021] As vehicles become increasingly intelligent, automatic parking is gradually being implemented. During automatic parking, the vehicle typically determines the target parking spot based on the target parking space information and then plans the parking path accordingly.

[0022] However, in real-world parking environments, there may be objects that affect parking space. If the parking target point is not adjusted according to the actual parking environment, the vehicle's parking position may not match the available parking space, affecting parking safety and efficiency.

[0023] Therefore, how to reasonably determine parking target points to improve the matching degree between parking target points and actual parking environment, and improve parking efficiency while ensuring parking safety, is an urgent problem to be solved.

[0024] In view of this, embodiments of this application provide a method, apparatus, vehicle, computer-readable storage medium, and computer program product for adjusting the target point position of parallel parking.

[0025] The technical solution provided by the embodiments of this application reasonably determines the parking target point, improves the matching degree between the parking target point and the actual parking environment, and improves parking efficiency while ensuring parking safety.

[0026] The method for adjusting the target point position of parallel parking provided in the embodiments of this application will be described below with reference to the accompanying drawings. Figure 1 A flowchart illustrating a target point position adjustment method for parallel parking according to an embodiment of this application is shown. Figure 1 As shown, the target point position adjustment method for parallel parking may include steps S110 to S160.

[0027] It should be noted that the specific application scenarios of the above methods are not limited in the embodiments provided in this application. The methods provided in the embodiments of this application can be flexibly applied to various automatic parking scenarios with parking target point adjustment according to actual needs.

[0028] S110 acquires vehicle geometric parameters, target parking information, exit direction, and obstacle information.

[0029] In some embodiments, the parking maneuver of the target point adjustment method for parallel parking provided in this application can be reverse parking. The initial position of the parking target point can correspond to the position of the vehicle reference point in the target parking space.

[0030] As an example, the vehicle reference point can be the center point of the vehicle's rear axle. The initial position of the parking target point can be converted to the center position of the vehicle's bounding box based on the offset relationship between the center point of the vehicle's rear axle and the center position of the vehicle's bounding box.

[0031] Target parking information can be used to characterize the target parking space and parking target point corresponding to the vehicle's current parking. Target parking information can be determined based on the target parking space identified by the vehicle, or based on the target parking space selected or entered by the user.

[0032] In some embodiments, the target parking space can be identified by the vehicle based on the perception results, or it can be selected or confirmed by the user through a human-computer interaction interface. This application does not limit the specific method for determining the target parking space.

[0033] In some embodiments, the exit direction can be represented by the exit direction angle. The exit direction angle corresponding to the vehicle leaving the target parking space from the initial position of the parking target point can be determined based on at least one of the target parking space opening direction, the distribution of obstacles around the target parking space, and the passable area around the target parking space.

[0034] In other embodiments, the target point position adjustment method for parallel parking can be executed once during a single parking process, or it can be executed multiple times during a single parking process. Each time the target point position adjustment method for parallel parking is executed, it can be determined whether the initial position of the current parking target point needs to be adjusted based on the target parking information, exit direction, and obstacle information obtained at the current time, and if adjustment is required, the displacement information of the current parking target point can be determined.

[0035] In other embodiments, after adjusting the parking target point from its initial position to its target position based on displacement information, the current parking target point position adjustment judgment can be terminated. If at least one of the vehicle position, target parking information, exit direction, or obstacle information is updated, the parking target point position adjustment judgment can be performed again.

[0036] S120: Based on the vehicle's geometric parameters and target parking information, construct the vehicle bounding box at the initial position of the vehicle at the target parking point.

[0037] Specifically, the vehicle surround box can be used to represent the spatial range in which the vehicle needs to participate in obstacle judgment at its initial position.

[0038] In some embodiments, the length of the vehicle enclosure box can be determined based on the vehicle length. The width of the vehicle enclosure box can be determined based on the vehicle width, or it can be determined based on the vehicle width and a preset width threshold.

[0039] When the width of the vehicle enclosure box is determined based on the vehicle width and a preset width threshold, it can be widened on the basis of the vehicle width so that the vehicle enclosure box covers the width of the vehicle body and the reserved judgment space on the lateral side of the vehicle.

[0040] In other embodiments, the preset width threshold can be determined based on the lateral clearance requirements of the vehicle. These clearance requirements may be related to obstacle detection accuracy, vehicle lateral control accuracy, and the available lateral space of the target parking space.

[0041] In other embodiments, the width of the vehicle enclosure box can be limited to a preset width range.

[0042] S130, determine the vehicle's exit edge line based on the exit direction and the vehicle's body box.

[0043] Specifically, the exit edge line is used as a baseline when comparing the position of the target obstacle with the vehicle surround box.

[0044] In some embodiments, there may be a correspondence between the vehicle's edge line and the vehicle body box. The boundary of the vehicle body box on the outbound side may coincide with the actual edge line of the vehicle on the outbound side, or it may be offset outward by a preset distance relative to the actual edge line of the vehicle on the outbound side, or it may be determined jointly based on the vehicle edge line, a preset buffer distance, and the widening distance of the vehicle body box.

[0045] S140, based on the obstacle location and the vehicle enclosure location in the obstacle information, determine the target obstacle located within the vehicle enclosure.

[0046] Specifically, a target obstacle refers to an obstacle selected based on the vehicle's bounding box and used to determine the displacement information of the parking target point. Being located within the vehicle's bounding box can include an obstacle entirely located within the vehicle's bounding box, or an obstacle overlapping with the vehicle's bounding box.

[0047] S150 determines the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line.

[0048] S160, based on the displacement information, adjust the parking target point from the initial position to the target position.

[0049] In some embodiments, after obtaining the target location of the parking target point, the current parking target point position adjustment judgment can be terminated. If at least one of the vehicle position, target parking information, exit direction, or obstacle information is updated, the parking target point position adjustment judgment can be performed again.

[0050] In other embodiments, if only one parking target point position adjustment judgment is performed during a parking process, the target position obtained from that adjustment can be used as the result of the current parking target point position adjustment judgment. If multiple parking target point position adjustment judgments are performed during a parking process, each judgment can use the target position obtained in the previous judgment as the initial position for the next judgment, or it can determine a new initial position based on the target parking information re-acquired in the current judgment, and determine the corresponding target position based on the obstacle information acquired in the current judgment.

[0051] In summary, the target point adjustment method for parallel parking provided in this application constructs a vehicle bounding box at the initial position of the vehicle at the target parking point using the vehicle's geometric parameters and target parking information. It then determines the vehicle's exit edge line based on the exit direction, allowing the adjustment of the target parking point to be based on the vehicle's actual space occupancy and the lateral boundary of the exit direction. Furthermore, it filters target obstacles using the vehicle bounding box and determines the displacement information of the target parking point based on the type of the obstacle and its positional relationship with the exit edge line, enabling the adjusted target parking point to better adapt to the current parking environment. This reduces the risk of insufficient distance between the vehicle and obstacles due to inadequate target parking point adjustment, improving parking safety. Simultaneously, it reduces the impact of obstacles with weak correlation to the vehicle's actual parking space on the target parking point adjustment, decreasing the possibility of unnecessary adjustments, thereby improving parking efficiency while ensuring parking safety.

[0052] In some embodiments, to align the exit direction with the boundary of the vehicle enclosure box on the exit direction side, the exit edge line of the vehicle can be determined based on the exit direction and the vehicle enclosure box. As an example, determining the exit edge line of the vehicle based on the exit direction and the vehicle enclosure box may include steps S131 to S132: S131, Determine the corner point of the vehicle body box on the outbound side.

[0053] Specifically, it can be based on the center position P of the vehicle body box. box_center Target heading unit vector → v heading Outbound direction vector → v exit Vehicle body box length L box and the width W of the vehicle body kit box Determine the two corner points of the vehicle's body box on the outbound side. These two corner points can be the first corner point P. exit_start Second corner point P exit_end .

[0054] The formula for representing the first corner point can be shown in formula (1):

[0055] The formula for representing the second corner point can be shown in formula (2):

[0056] Among them, the first corner point P exit_start This indicates a corner point of the vehicle's body box on the outbound side, in meters, and the second corner point P. exit_end This indicates the other corner point of the vehicle enclosure on the outbound side, in meters.

[0057] S132, Based on the corner point, determine the exit edge line of the vehicle enclosure box on the exit direction side.

[0058] Specifically, it can be based on the first corner point P. exit_start Second corner point P exit_end Determine the edge of the vehicle body kit on the exit side in the exit direction. exit The formula for representing the outbound edge line can be shown in formula (3):

[0059] Among them, Edge exit This represents the vehicle's exit edge line. The Line2d(*) function is a function that constructs a two-dimensional line segment based on two points.

[0060] In some embodiments, the exit edge line can serve as a baseline for subsequently determining the positional relationship between the target obstacle and the vehicle enclosure.

[0061] In summary, this embodiment of the application determines the exit edge line, enabling the exit direction to correspond with the actual boundary of the vehicle's enclosure. Therefore, when determining the positional relationship between the target obstacle and the vehicle's enclosure, the exit edge line can be used as a unified geometric reference. The displacement information of the parking target point is determined based on the distance between the obstacle location and the exit edge line, thereby improving the correspondence between the displacement information and the degree of obstacle intrusion on the vehicle's exit direction side. This provides a basis for adapting the parking target point to the current parking environment, reducing the risk of insufficient distance between the vehicle and obstacles, and minimizing unnecessary target point adjustments.

[0062] In some embodiments, determining the displacement information of the parking target point based on the type of the target obstacle and its positional relationship with the exit edge line may include a first processing branch and a second processing branch. The first processing branch may be used to process a first obstacle, and the second processing branch may be used to process a second obstacle. The first obstacle and the second obstacle may correspond to different obstacle information sources or different obstacle representations; therefore, different methods can be used to determine the corresponding obstacle locations, and the displacement information of the parking target point can be determined based on the positional relationship between the obstacle locations and the exit edge line.

[0063] It should be noted that the target obstacle is one that has already been screened based on the vehicle surround box in the aforementioned steps. That is, if an obstacle overlaps with the vehicle surround box, or if at least a portion of the obstacle is located within the vehicle surround box, then the obstacle has been identified as a target obstacle. Therefore, in this embodiment, the determination of the first and second obstacles is a type determination within the target obstacle range, rather than a re-screening of obstacles based on the vehicle surround box.

[0064] In some embodiments, the target obstacle may include a first obstacle and a second obstacle. The first obstacle may be determined based on an unknown obstacle that overlaps with the vehicle's body box, and the second obstacle may be determined based on an ultrasonic obstacle that overlaps with the vehicle's body box.

[0065] The formula for representing an unknown obstacle used to determine the first obstacle can be as shown in formula (4):

[0066] Among them, O lidar The first obstacle is represented by O, which is an unknown obstacle that overlaps with the vehicle's bodybox. IsUnknown(O) indicates whether obstacle O is an unknown obstacle, and Polygon(O) represents the polygonal region of obstacle O. vehicle This represents the vehicle bounding box. HasOverlapWithBox indicates whether the polygonal region overlaps with the vehicle bounding box.

[0067] The formula for representing an ultrasonic obstacle used to determine a second obstacle can be shown in formula (5):

[0068] Among them, O uss This indicates the second obstacle, namely an ultrasonic obstacle that overlaps with the vehicle's enclosure. IsUssObstacle(O) indicates whether obstacle O is an ultrasonic obstacle.

[0069] Furthermore, after determining that the target obstacles include the first obstacle and the second obstacle, the spatial relationship between the first obstacle and the second obstacle can be determined.

[0070] Specifically, it can be determined whether the polygonal regions of the first obstacle and the second obstacle overlap. The formula for representing the overlap judgment result (Hoverlap) between the first obstacle and the second obstacle can be shown in formula (6):

[0071] Among them, H overlap This indicates whether the polygonal regions of the first obstacle and the second obstacle overlap. occupancy Polygon represents the polygonal region of the first obstacle. lidar The polygonal region represents the second obstacle, and HasOverlapWithPolygon is a function that determines whether the two polygonal regions overlap.

[0072] In H overlapIf true, it indicates that there is a spatial correspondence between the first obstacle and the second obstacle, and the first obstacle with this spatial correspondence can be retained as a candidate first obstacle.

[0073] In H overlap If the value is false, it means that there is no spatial correspondence between the first obstacle and the second obstacle, and the second obstacle can be removed from the first obstacle.

[0074] Furthermore, type filtering is performed on the candidate first obstacle.

[0075] For example, curb-type obstacles and speed bump-type obstacles can be excluded from the candidate first obstacles. The first obstacles that remain after type filtering can proceed to the subsequent first processing branch.

[0076] In some embodiments, the representation formula for the first obstacle retained after type filtering can be as shown in formula (7):

[0077] Among them, O occupancy_valid This indicates the first obstacle retained after type filtering. O indicates the first obstacle with a spatial correspondence. Type(O) indicates the obstacle type of the first obstacle O. CURB indicates the curb type and SPEED_HUMP indicates the speed bump type.

[0078] In summary, the embodiments of this application determine the obstacle location by distinguishing between a first obstacle and a second obstacle and employing corresponding processing methods. By judging the spatial relationship between the two and filtering candidate first obstacles by type, the influence of inconsistent obstacle information or irrelevant obstacles can be reduced, making the determination of displacement information more focused on the target obstacle that actually affects the vehicle parking space, thereby improving the adaptability of the parking target point to the current parking environment and the parking efficiency.

[0079] In some embodiments, in order to exclude obstacles whose height does not meet the condition or whose center point is not located within the vehicle enclosure when the target obstacle is the first obstacle, and to determine subsequent displacement information based on the center point of the obstacle that meets the condition, the obstacle point corresponding to the first obstacle can be determined based on the height value of the obstacle's center point and the positional relationship between the obstacle's center point and the vehicle enclosure. As an example, such as Figure 2 As shown, determining the displacement information of the parking target point based on the type of the target obstacle and its positional relationship with the exit edge line can include steps S151A to S154A: S151A, when the type of the target obstacle is the first obstacle, select the first target obstacle from the target obstacles whose center point height value is greater than the preset height threshold.

[0080] In other embodiments, the first obstacle may have a three-dimensional point P corresponding to the center point of the obstacle. 3d P 3d The formula for representing can be shown in formula (8):

[0081] Where x and y represent the position of the obstacle's center point in the planar coordinate system, and z represents the height of the obstacle's center point.

[0082] In some embodiments, the height requirement of an obstacle can be determined based on the difference between the height of the obstacle's center point and the ground height. Height determination result H valid The formula for representing can be shown in formula (9):

[0083] Among them, H valid This indicates the height determination result, where z represents the height of the obstacle's center point. ground This represents the ground height, and 'a' represents the preset height. For example, a = 0.15 meters can be used.

[0084] If the height determination result is H valid If true, it means that the height of the obstacle's center point relative to the ground is greater than or equal to the preset height. The obstacle can be identified as the first target obstacle, and the obstacle point used to calculate displacement information can be determined based on the obstacle's center point.

[0085] If the height determination result is H valid If the value is false, it means that the height of the obstacle's center point relative to the ground is less than the preset height. The subsequent processing of the obstacle in the first processing branch can be skipped, or the obstacle can not be identified as the first target obstacle.

[0086] In some embodiments, the preset height threshold can be an empirical parameter, or it can be determined based on at least one of the obstacle type, vehicle chassis height, sensing device detection error, or parking safety distance.

[0087] S152A: Select the first target obstacle whose center point is located within the vehicle's enclosure from the first target obstacle to obtain the second target obstacle.

[0088] Specifically, for the first target obstacle that meets the height requirement, it can be determined by the two-dimensional point P of its center point in the planar coordinate system. 2d Determine the two-dimensional point P.2d Is it located in the vehicle body box? vehicle Inside. Among them, P 2d The formula for representing can be shown in formula (10):

[0089] Two-dimensional point P 2d Is it located in the vehicle body box? vehicle The judgment result P within in_box The formula for representing can be shown in formula (11):

[0090] Among them, P in_box Represents a two-dimensional point P 2d Is it located in the vehicle body box? vehicle The judgment result within the Box vehicle This represents the vehicle's bounding box. The IsPointIn(*) function is a function that determines whether a point is inside the bounding box.

[0091] In P in_box If true, the corresponding first target obstacle can be identified as the second target obstacle.

[0092] In P in_box If the result is false, it means that the center point of the first target obstacle is not located within the vehicle enclosure. The subsequent processing of the first target obstacle in the first processing branch can be skipped, or the first target obstacle can not be identified as the second target obstacle.

[0093] S153A, the center point of the second target obstacle is determined as the obstacle point corresponding to the second target obstacle.

[0094] Specifically, for the second target obstacle, the two-dimensional point P2d corresponding to its center point can be determined as the obstacle location. That is, the obstacle location corresponding to the second target obstacle can be represented by P2d.

[0095] By using the center point of the obstacle as the obstacle point corresponding to the second target obstacle, the distance calculation of the first obstacle can be based on the representative position of the obstacle within the vehicle's enclosure, which facilitates the subsequent calculation of the distance between the obstacle point and the exit edge line.

[0096] S154A determines the displacement information of the parking target point based on the positional relationship between the obstacle location and the exit edge line.

[0097] Specifically, in step S153A, the center point of the second target obstacle has been determined as the obstacle point corresponding to the second target obstacle. Therefore, based on the positional relationship between the obstacle point and the exit edge line, the moving distance of the parking target point can be determined according to subsequent steps S1541 to S1543. If it is necessary to filter out abnormalities in the moving distance or limit the maximum moving range, this can be done according to subsequent steps S15431 to S15434.

[0098] In summary, in this embodiment, when the target obstacle is the first obstacle, the first target obstacle is first selected based on the height value of its center point. Then, the second target obstacle is selected based on the positional relationship between its center point and the vehicle's surround box, and its center point is determined as the obstacle location. This allows the displacement information of the parking target point to be determined based on obstacles that meet the height requirement and whose center point is located within the vehicle's surround box. This reduces the influence of irrelevant obstacles, makes the movement distance of the parking target point more accurately reflect the actual impact of the first obstacle on the target parking space, improves the adaptability of the parking target point to the parking environment, and reduces unnecessary target point adjustments.

[0099] In some embodiments, in order to determine the obstacle location corresponding to the second obstacle based on the actual situation when the target obstacle is a second obstacle. As an example, such as Figure 3 As shown, determining the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line can include steps S151B to S154B.

[0100] S151B, when the type of the target obstacle is the second obstacle, select the target obstacles from the target obstacles whose overlap area with the vehicle's enclosure box is greater than zero to obtain the third target obstacle.

[0101] The target obstacle already overlaps with the vehicle's enclosure box. In the second obstacle branch, it is necessary to further determine whether the overlapping area formed by the second obstacle and the vehicle's enclosure box has an area greater than zero. If the overlapping area is greater than zero, it means that the second obstacle does indeed have a certain area entering the vehicle's enclosure box, and it can be identified as the third target obstacle. If the overlapping area is equal to zero, it means that it is only point contact or boundary contact, and the subsequent corner point processing of the second obstacle can be skipped. S152B, determine the overlapping area between the obstacle area of ​​the third target obstacle and the vehicle's enclosure box.

[0102] Specifically, the vehicle bounding box can be converted into a corresponding polygonal region, and its intersection with the obstacle polygonal region corresponding to the third target obstacle can be calculated to obtain the overlapping region. intersection The formula for representing can be shown in formula (12):

[0103] Among them, Polygon intersection Polygon represents the overlapping region. vehicle Polygon represents the polygonal region corresponding to the vehicle's bounding box. obstacle This represents the polygonal region corresponding to the third target obstacle.

[0104] S153B, the feature points in the overlapping area are identified as the obstacle points corresponding to the third target obstacle.

[0105] Specifically, the feature points in the overlapping region can be determined based on the corner points of the polygon corresponding to the overlapping region. The overlapping region can be the area between the obstacle region corresponding to the third target obstacle and the vehicle's bounding box, denoted as Polygon. intersection Overlapping region Polygon intersection It can include multiple polygon corner points, and each polygon corner point can be used to participate in the determination of feature points.

[0106] It should be noted that the polygon corner points in the overlapping area are not directly equivalent to the obstacle points corresponding to the third target obstacle. These polygon corner points are used as candidate calculation points to determine feature points; the feature point is a polygon corner point selected from multiple polygon corner points based on the comparison of distances between each polygon corner point and the exit edge line. This feature point can serve as the obstacle point corresponding to the third target obstacle.

[0107] In some embodiments, the overlapping regions of the Polygon can be traversed. intersection Find the corner points P of each polygon in the diagram, and calculate the distance from each polygon corner point P to the edge of the outbound line. exit Distance D point D point The formula for representing can be shown in formula (13):

[0108] Where P represents the overlapping region Polygon intersection Any corner point of a polygon in D point This represents the distance from the corner point P of the polygon to the edge of the outbound lane. exit The distance, Edge exit This represents the edge line of the warehouse exit, and DistanceToPoint represents the distance function from the point to the line segment.

[0109] In some embodiments, to avoid the impact of excessively small polygon corner points on subsequent displacement information calculations, D can be... point Compare with the preset filtering threshold ε. If Dpoint If the value is less than a preset filtering threshold ε, then the polygon corner point P is skipped and not used in feature point determination. For example, ε can be 0.001.

[0110] If D point If the value is greater than or equal to the preset filtering threshold ε, then the polygon corner point P can participate in the minimum distance comparison. The minimum distance D can be set first. min Initialized to the vehicle bounding box width W box The specific formula can be represented as shown in formula (14):

[0111] Among them, D min This indicates the currently determined polygon corner point to the outbound edge line. exit The minimum distance, W box This indicates the width of the vehicle's body box in the outbound direction.

[0112] During the traversal of each polygon corner point P, we can determine the corresponding D based on each polygon corner point P. point Update D min The specific formula can be represented as shown in formula (15):

[0113] D corresponding to the current polygon corner point P point Less than the current D min In this case, D can be min Updated to this D point The polygon corner point P is then used as the currently tentative feature point. As the traversal continues, if there are other unfiltered polygon corner points corresponding to D... point If the value is smaller, then the currently provisional feature point is replaced with the polygon corner point that is closer to it.

[0114] It should be noted that for each unfiltered polygon corner point, the width W of the vehicle bounding box can be used as a reference. box D corresponding to the corner point of the polygon point The difference is used to obtain the corner point movement distance corresponding to the corner point of the polygon. This corner point movement distance is used to characterize the initial movement distance obtained based on the corner point of the polygon. Within the vehicle bounding box width W... box Under certain circumstances, D point The smaller the value of D, the greater the distance the corner point of the polygon will move. Therefore, by determining the minimum D... point This allows us to determine the polygon corner point that moves the largest distance.

[0115] The feature points are overlapping regions (Polygons). intersectionAmong the corresponding polygon corner points, the one leading to the outbound edge line. exit The polygon corner point with the smallest distance that is not filtered by the preset filtering threshold ε.

[0116] In determining the feature point and the corresponding D of that feature point min Then, based on the width W of the vehicle's body box... box and D min Determine the first movement distance D corresponding to the third target obstacle. move_temp The specific formula can be represented as shown in formula (16):

[0117] Among them, D move_temp W represents the first movement distance corresponding to the third target obstacle. box D represents the width of the vehicle body box in the outbound direction. min Indicates the distance from the feature point to the edge of the outbound line. exit The distance. The first movement distance D corresponding to the third target obstacle. move_temp This can be understood as the corner point movement distance corresponding to the feature point among multiple polygon corner points. In the second obstacle branch, D move_temp The first moving distance is determined based on the positional relationship between the obstacle point corresponding to the third target obstacle and the exit edge line. It can then participate in the screening and moving distance determination process in steps S15431 to S15434.

[0118] S154B determines the displacement information of the parking target point based on the positional relationship between the obstacle location and the exit edge line.

[0119] Specifically, in step S153B, the feature points in the overlapping area have been identified as the obstacle points corresponding to the third target obstacle. Therefore, based on the positional relationship between the obstacle points and the exit edge line, the moving distance of the parking target point can be determined according to subsequent steps S1541 to S1543. If it is necessary to filter out abnormalities in the moving distance or limit the maximum moving range, it can be processed according to subsequent steps S15431 to S15434.

[0120] In summary, this embodiment of the application determines the obstacle location based on the overlapping area in the second obstacle branch, enabling the displacement information of the parking target point to more accurately reflect the actual impact of the second obstacle on the vehicle parking space, avoiding the use of obstacles with only point or boundary contact as the primary adjustment basis. Therefore, the parking target point can better adapt to the current parking environment, reducing the risk of insufficient distance between the vehicle and obstacles, and minimizing unnecessary adjustments due to misjudgment of obstacles, thereby improving parking efficiency while ensuring parking safety.

[0121] In some embodiments, to convert the positional relationship between the obstacle point and the exit edge line into the movement distance of the parking target point, the displacement information may include the movement distance. As an example, determining the displacement information of the parking target point based on the positional relationship between the obstacle point and the exit edge line may include steps S1541 to S1543: S1541, determine the target distance between each obstacle point and the exit edge line; the obstacle point is used to indicate the position of the corresponding target obstacle.

[0122] Specifically, the exit edge line can be used as a baseline for determining the positional relationship of a target obstacle relative to the vehicle's body box. The target distance can be the distance from the obstacle's location to the exit edge line. The method for determining the obstacle's location can differ depending on the type of target obstacle. For example, if the target obstacle is a first obstacle, the obstacle's location can be the center point of the second target obstacle; if the target obstacle is a second obstacle, the obstacle's location can be a feature point in the overlapping area corresponding to the third target obstacle. For specific methods of determining the obstacle's location, please refer to the relevant embodiments of the first and second processing branches described above.

[0123] In some embodiments, in the first processing branch, the obstacle point corresponding to the second target obstacle is P. 2d Then the location of the obstacle is relative to the edge of the exit line. exit The target distance between them can be Edge exit .DistanceToPoint(P 2d In the second processing branch, the obstacle point corresponding to the third target obstacle is a feature point in the overlapping area. This feature point then overlaps with the exit edge line. exit The target distance between them can be D determined in step S153B. min .

[0124] S1542, based on the width of the vehicle enclosure box in the outbound direction and the distance to each target, determine the first moving distance corresponding to each obstacle point.

[0125] Specifically, the width of the vehicle enclosure box in the exit direction can be Wbox. For any obstacle point, the first moving distance corresponding to the obstacle point can be determined based on the width of the vehicle enclosure box Wbox and the target distance between the obstacle point and the exit edge line.

[0126] In some embodiments, in the first processing branch, the obstacle point corresponding to the second target obstacle is P. 2d It can be based on the width W of the vehicle body box. box and P 2d Edge of outbound shipment exit The target distance between them determines the first movement distance Dmove(P) corresponding to the second target obstacle. 2d The specific formula can be represented as shown in formula (17):

[0127] Among them, D move (P 2d P represents the first movement distance corresponding to the second target obstacle. 2d W represents the location of the obstacle corresponding to the second target obstacle. box This indicates the width of the vehicle's body box in the outbound direction, Edge. exit This represents the edge line of the warehouse exit, and DistanceToPoint represents the distance function from the point to the line segment.

[0128] In the second processing branch, the first movement distance corresponding to the third target obstacle can be D determined in step S153B. move_temp D move (P 2d ) and D move_temp These represent the specific distance traveled under different processing branches.

[0129] S1543, determine the movement distance of the parking target point based on each first movement distance.

[0130] Specifically, each first movement distance corresponds to a different obstacle location. The movement distance of the parking target point can be determined based on each first movement distance. The movement distance of the parking target point represents the distance value used when the parking target point is adjusted from its initial position to its target position.

[0131] In some embodiments, the movement distance of the parking target point can be determined based on the maximum value among the first movement distances, or the movement distance of the parking target point can be determined after filtering the first movement distances in combination with a preset movement threshold. Specific filtering and threshold limiting methods can be found in subsequent embodiments.

[0132] In summary, this embodiment of the application determines the target distance between each obstacle point and the exit edge line, and combines this with the width of the vehicle's enclosure box in the exit direction to determine the first moving distance corresponding to each obstacle point. This allows the positional relationships of different target obstacles to be converted into distance values ​​in the same dimension. Therefore, when multiple obstacle points exist, subsequent comparisons, filtering, or thresholding can be performed based on each first moving distance, avoiding the need to determine the moving distance of the parking target point solely based on the presence or absence of an obstacle. This makes the process of determining the moving distance of the parking target point easier to quantify and corresponds to the positional relationship of the target obstacle relative to the exit edge line.

[0133] In some embodiments, to filter abnormal movement distances and limit the maximum movement of the parking target point, each first movement distance can be processed according to a first movement threshold and a second movement threshold. As an example, determining the movement distance of the parking target point based on each first movement distance may include steps S15431 to S15434: S15431, Select the first target movement distance that is less than the first movement threshold from each first movement distance.

[0134] Specifically, the first movement threshold can be used to filter abnormal movement distances. In some embodiments, the first movement threshold can be the maximum distance threshold D corresponding to wall-like obstacles. wall_max That is, D wall_max This is one example of a first movement threshold. For example, the first movement threshold is 0.5 meters.

[0135] For the first movement distance corresponding to the obstacle point, if the first movement distance is greater than or equal to D wall_max If so, the first moving distance can be skipped and not used as the basis for determining the moving distance to the parking target point. For example, if the first moving distance is D... move (P 2d In the case of ), if formula (18) is satisfied:

[0136] Then the first movement distance can be skipped. The first movement distance is D. move_temp In the case that formula (19) is satisfied:

[0137] Then you can skip that first movement distance.

[0138] If the first moving distance is less than D wall_max If so, the first moving distance can be determined as the first target moving distance, and the subsequent moving distance determination process can begin.

[0139] S15432, if the movement distance of any first target is greater than or equal to the second movement threshold, the second movement threshold is determined as the movement distance of the second target; wherein, the second movement threshold is less than the first movement threshold.

[0140] Specifically, the second movement threshold can be used to limit the maximum movement distance of the parking target point. In some embodiments, the second movement threshold can be the maximum outward movement distance D. max That is, D max This is an example of a second movement threshold. The second movement threshold is less than the first movement threshold, and it is used to limit the maximum adjustment range of the parking target point.

[0141] For the first target movement distance that is not filtered by the first movement threshold, if there exists any first target movement distance greater than or equal to D max Then D can be max The second target movement distance is determined. This second movement threshold can be an empirical parameter or determined based on parking type, target parking space size, vehicle size, or the clearance between the vehicle and obstacles. The second movement threshold limits the adjustment range of the parking target point and does not indicate abandoning the current target parking space.

[0142] S15433, when the moving distance of each first target is less than the second moving threshold, the maximum value among the moving distances of each first target is determined as the moving distance of the second target.

[0143] Specifically, the currently determined distance moved by the second target can be denoted as D. offset D offset The initial value can be set to a preset initial value, for example, D offset The initial value can be 0. This applies when the distance traveled by each first target is less than D. max In this case, the movement distance D of the second target can be updated based on the movement distance of each first target. offset .

[0144] In some embodiments, if the distance the first target moves is D move (P 2d Then, the movement distance D of the second target can be updated according to the following formula (20). offset :

[0145] Wherein, the second target moves a distance D offset D represents the currently determined distance moved by the second target. move (P 2d ) indicates the distance the first target moved relative to the second target obstacle.

[0146] In some embodiments, if the distance the first target moves is D move_temp Then the movement distance D of the second target can be updated according to the following formula (21). offset :

[0147] Among them, D offset D represents the currently determined distance moved by the second target. move_temp This indicates the distance the first target has moved relative to the third obstacle.

[0148] By using the above method, a larger movement distance can be reserved in the first target movement distance corresponding to multiple target obstacles, so that the movement distance of the parking target point can cover the obstacles with greater movement demand among multiple target obstacles.

[0149] S15434, the movement distance of the second target is determined as the movement distance of the parking target point.

[0150] Specifically, the second target movement distance determined according to the second movement threshold in step S15432, or the second target movement distance D updated in step S15433, can be used. offset The distance traveled by the target parking point is determined. This distance represents the distance taken to move the target parking point from its initial position to its target position.

[0151] Specifically, displacement information can include the direction of movement and the distance traveled. The direction of movement can be determined based on the outbound direction vector →v. exit The movement distance can be the movement distance to the parking target point determined in step S15434. This can be based on the initial position P of the parking target point. destination Outbound direction vector → v exit And the distance the parking target point moves, to determine the adjusted parking target point position P. destination_adjusted .

[0152] In some embodiments, if the distance the parking target point moves is D offset The adjusted parking target point position P destination_adjusted It can be expressed by formula (22):

[0153] Among them, P destination_adjusted Indicates the adjusted parking target point location, P destination Indicates the initial position of the parking target point, →v exit D represents the outbound direction vector. offset This indicates the distance traveled to the parking target point.

[0154] In summary, this embodiment of the application filters out anomalies in each first movement distance using a first movement threshold and limits the maximum movement range of the parking target point using a second movement threshold. This reduces the impact of abnormal or excessive movement distances on the adjustment results of the parking target point. Therefore, the process of determining the movement distance of the parking target point has a relatively stable value range, facilitating the determination of a more reasonable movement distance when multiple target obstacles correspond to different movement distances.

[0155] In some embodiments, to enable the vehicle bounding box to characterize the space occupied by the vehicle when it is initially positioned at the parking target point, the vehicle bounding box can be constructed based on the vehicle's geometric parameters and the target parking information. As an example, constructing the vehicle bounding box at the initial position of the vehicle at the parking target point based on the vehicle's geometric parameters and the target parking information may include steps S121 to S125.

[0156] In some embodiments, the vehicle's geometric parameters include vehicle length, vehicle width, and the distance from the center of the rear axle to the front of the vehicle; the target parking space information includes the target heading angle. Based on the vehicle's geometric parameters and the target parking information, constructing the vehicle bounding box at the initial position of the target parking point may include steps S121 to S125.

[0157] S121, Determine the target heading of the vehicle at its initial position at the parking target point based on the target heading angle.

[0158] Specifically, the target heading angle of the vehicle at the initial position of the parking target point can be determined based on the target heading angle in the target parking space information. The target heading can be represented by a target heading unit vector. If the target heading angle is... target Then the target heading unit vector → v heading The formula for representing can be shown in formula (23):

[0159] Among them, →v heading This represents the vehicle's target heading unit vector. target Indicates the target heading angle of the target parking space.

[0160] In some embodiments, the target heading unit vector is used to represent the vehicle's orientation when it is initially positioned at the parking target point. The target heading unit vector can serve as the directional basis for subsequently determining the center position of the vehicle's body box and its orientation.

[0161] S122, determine the vehicle's exit direction vector based on the target heading angle and the exit direction angle.

[0162] Furthermore, if the outbound direction angle is... exit Then the outbound direction vector → v exit According to exit and target The size relationship is determined.

[0163] when exit > target At that time, the outbound direction vector → v exit The formula for representing can be shown in formula (24):

[0164] when exit ≤ target At that time, the outbound direction vector → v exit The formula for representing can be shown in formula (25):

[0165] Among them, →v exit This represents the vector indicating the direction of exiting the parking space. exit Indicates the angle of exit direction from the parking space. target Indicates the target heading angle.

[0166] In some embodiments, the exit direction vector is perpendicular to the target heading unit vector and points outward relative to the target parking space when the vehicle is initially positioned at the target parking point. Determining the exit direction vector using the target heading angle and the exit direction angle allows for the determination of the boundary of the vehicle enclosure on the exit direction side in subsequent steps.

[0167] S123, using the initial position of the parking target point as the position of the vehicle reference point, determine the center position of the vehicle body box based on the positional relationship between the vehicle reference point and the center position of the vehicle body box.

[0168] Specifically, the initial position of the parking target point can be used as the vehicle reference point. The vehicle reference point can be the center point of the vehicle's rear axle. Based on the distance from the rear axle center to the front of the vehicle, the vehicle length, and the target heading unit vector, the center position of the vehicle's bounding box can be determined. The vehicle bounding box center position P box_center The formula for representing can be shown in formula (26):

[0169] Among them, P box_centerP indicates the center position of the vehicle body kit. destination Indicates the location of the target point for inbound storage, →v heading L represents the target heading unit vector of the vehicle. ra_to_front L represents the distance from the center of the rear axle to the front of the vehicle. vehicle This indicates the length of the vehicle, in meters.

[0170] S124, obtain the preset width threshold, and determine the vehicle bounding box width based on the vehicle width and the preset width threshold.

[0171] Specifically, a preset width threshold B can be obtained. lateral Preset width threshold B lateral Used to adjust the width range of the vehicle body kit in the lateral direction of the vehicle. Vehicle body kit length L box The formula for representing can be shown in formula (27):

[0172] Vehicle body box width W box The formula can be represented as shown in formula (28):

[0173] Among them, L box W represents the length of the vehicle body box. box L indicates the width of the vehicle body kit. vehicle W represents the length of the vehicle. vehicle B indicates the width of the vehicle. lateral This indicates the preset width threshold, with the unit being meters.

[0174] In some embodiments, a preset width threshold B lateral It can be determined based on at least one of the following: parking type, reserved distance between vehicle and obstacle, vehicle control error, or obstacle detection error.

[0175] In this embodiment, for example, a preset width threshold B is used. lateral It can be 0.1 meters.

[0176] S125. Construct the vehicle bounding box based on the center position of the vehicle bounding box, the target heading angle, the vehicle length, and the width of the vehicle bounding box.

[0177] Specifically, it can be based on the center position P of the vehicle body box. box_center Target heading angle target Vehicle length L vehicle and the width W of the vehicle body kit vehicle +2B lateral Build the vehicle enclosure box vehicle Vehicle body kit boxvehicle The formula for representing can be shown in formula (29):

[0178] Among them, Box vehicle The Box2d(*) function represents the constructed vehicle bounding box, which generates a 2D bounding box based on the center point, heading angle, length, and width. box_center Indicates the center position of the vehicle body kit. target L represents the target heading angle of the target parking space. vehicle W represents the length of the vehicle. vehicle B indicates the width of the vehicle. lateral This indicates the preset width threshold.

[0179] In some embodiments, the vehicle bounding box represents the area occupied by the vehicle when it is parked at its initial position at the parking target point according to the target heading. Constructing the vehicle bounding box in this way provides a positional basis for subsequently determining the exit edge line and screening target obstacles.

[0180] In summary, this embodiment determines the vehicle's orientation at the parking target point based on the target heading angle, and uses the initial position of the parking target point as the vehicle's reference point. It then constructs a vehicle enclosure box by combining the distance from the rear axle center to the front of the vehicle, the vehicle's length, and the vehicle's width. This ensures that the position, orientation, and dimensions of the vehicle enclosure box correspond to the actual parking state of the vehicle at the parking target point. Therefore, when subsequently determining the exit edge line and screening target obstacles based on the vehicle enclosure box, a more accurate vehicle occupancy range can be used as the basis for judgment, reducing obstacle screening deviations caused by inaccurate vehicle enclosure box position or dimensions.

[0181] Figure 4 This is a schematic diagram of a target point position adjustment device for parallel parking provided in another embodiment of this application. For ease of explanation, Figure 4 Only the parts relevant to the embodiments of this application are shown.

[0182] Reference Figure 4 The target point position adjustment device 400 for parallel parking may include an acquisition module 410, a construction module 420, a determination module 430, and an adjustment module 440.

[0183] The acquisition module 410 is used to acquire the vehicle's geometric parameters, target parking information, exit direction, and obstacle information. The target parking information includes the target parking space information and the initial position of the parking target point.

[0184] The construction module 420 is used to construct a vehicle bounding box at the initial position of the vehicle at the target parking point based on the vehicle's geometric parameters and the target parking information.

[0185] The determining module 430 is used to determine the exit edge line of the vehicle based on the exit direction and the vehicle enclosure box.

[0186] The determination module 430 is further configured to determine the target obstacle located within the vehicle enclosure based on the obstacle position in the obstacle information and the position of the vehicle enclosure.

[0187] The determining module 430 is further configured to determine the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line.

[0188] The adjustment module 440 is used to adjust the parking target point from the initial position to the target position according to the displacement information.

[0189] The various modules in the target point position adjustment device for parallel parking provided in this application embodiment can achieve... Figure 1 The method for adjusting the parking target point position shown illustrates the function of each step and the corresponding technical effect. For the sake of brevity, details are omitted here.

[0190] 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.

[0191] 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.

[0192] Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in yet another embodiment of this application.

[0193] Electronic device 500 may include processor 501 and memory 502 storing programs or instructions.

[0194] When processor 501 executes the program, it implements the steps in any of the above method embodiments.

[0195] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 502 and executed by processor 501 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 electronic device 500.

[0196] Specifically, the processor 501 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.

[0197] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 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 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to electronic device 500. In a particular embodiment, memory 502 is a non-volatile solid-state memory.

[0198] 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 method according to one aspect of this application.

[0199] The processor 501 reads and executes the program or instructions stored in the memory 502 to implement any of the target point position adjustment methods for parallel parking in the above embodiments.

[0200] In one example, the electronic device 500 may also include a communication interface 503 and a bus 504. The processor 501, memory 502, and communication interface 503 are connected via the bus 504 and communicate with each other.

[0201] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0202] Bus 504 includes hardware, software, or both, that couples components of electronic device 500 together. For example, and not limitingly, the bus may include Accelerated Graphics Port (AGP) or other graphics buses, Enhanced Industry Standard Architecture (EISA) buses, Front Side Bus (FSB), HyperTransport (HT) interconnects, Industry Standard Architecture (ISA) buses, Infinite Bandwidth Interconnects, Low Pin Count (LPC) buses, memory buses, Microchannel Architecture (MCA) buses, Peripheral Component Interconnect (PCI) buses, PCI-ExpreS (PCI-X) buses, Serial Advanced Technology Attachment (SATA) buses, Video Electronics Standards Association Local (VLB) buses, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 504 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.

[0203] This application also provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the target point position adjustment method for parallel parking as described above.

[0204] This application also provides a computer program product, which is stored in a machine-readable storage medium and 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] 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.

[0209] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for adjusting the target point position of parallel parking, characterized in that, include: The vehicle's geometric parameters, target parking information, exit direction, and obstacle information are acquired. The target parking information includes the target parking space information and the initial position of the target parking point. Based on the vehicle's geometric parameters and the target parking information, construct the vehicle bounding box at the initial position of the vehicle at the target parking point; Determine the vehicle's exit edge line based on the exit direction and the vehicle's enclosure box; Based on the obstacle location and the vehicle surround box location in the obstacle information, the target obstacle located within the vehicle surround box is determined; The displacement information of the parking target point is determined based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line; Based on the displacement information, the parking target point is adjusted from the initial position to the target position.

2. The method for adjusting the target point position of parallel parking according to claim 1, characterized in that, Determining the vehicle's exit edge line based on the exit direction and the vehicle's enclosure includes: Determine the corner point of the vehicle enclosure on the side of the exit direction; Based on the corner point, determine the exit edge line of the vehicle enclosure box on the exit direction side.

3. The method for adjusting the target point position of parallel parking according to claim 1, characterized in that, The step of determining the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line includes: When the type of the target obstacle is a first obstacle, the first target obstacle with a height value of the center point greater than a preset height threshold is selected from the target obstacles; the first obstacle type is the type of obstacle sensed by multiple sensing devices; From the first target obstacles, select the first target obstacles whose center point is located within the vehicle enclosure to obtain the second target obstacle; The center point of the second target obstacle is determined as the obstacle point corresponding to the second target obstacle; The displacement information of the parking target point is determined based on the positional relationship between the obstacle location and the exit edge line.

4. The method for adjusting the target point position of parallel parking according to claim 1, characterized in that, The step of determining the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line further includes: If the type of the target obstacle is the second obstacle, then target obstacles whose overlap area with the vehicle surround box is greater than zero are selected from the target obstacles to obtain the third target obstacle; the second obstacle type includes the obstacle type obtained by ultrasonic detection; Determine the overlapping area between the obstacle area of ​​the third target obstacle and the vehicle surround box; The feature points in the overlapping area are identified as the obstacle points corresponding to the third target obstacle; The displacement information of the parking target point is determined based on the positional relationship between the obstacle location and the exit edge line.

5. The method for adjusting the target point position of parallel parking according to at least one of claims 3 or 4, characterized in that, The displacement information includes the distance traveled. Determining the displacement information of the parking target point based on the positional relationship between the obstacle location and the exit edge line includes: Determine the target distance between each of the aforementioned obstacle points and the exit edge line; the obstacle points are used to indicate the position of the corresponding target obstacle; Based on the width of the vehicle enclosure in the exit direction and the distances to each target, determine the first moving distance corresponding to each obstacle point; The movement distance of the parking target point is determined based on each of the first movement distances.

6. The method for adjusting the target point position of parallel parking according to claim 5, characterized in that, Determining the movement distance of the parking target point based on each of the first movement distances includes: Filter out the first target movement distances from each of the first movement distances, selecting those with a distance less than the first movement threshold; If the distance of movement of the first target is greater than or equal to the second movement threshold, the second movement threshold is determined as the distance of movement of the second target; wherein the second movement threshold is less than the first movement threshold; If the movement distance of each of the first targets is less than the second movement threshold, the maximum value among the movement distances of the first targets is determined as the movement distance of the second target. The second target movement distance is determined as the movement distance of the parking target point.

7. The method for adjusting the target point position of parallel parking according to claim 1, characterized in that, The vehicle's geometric parameters include vehicle length, vehicle width, and offset distance between the vehicle reference point and the center of the vehicle's bounding box; the target parking space information includes the target heading angle. The step of constructing a vehicle bounding box at the initial position of the vehicle at the target parking point based on the vehicle's geometric parameters and the target parking information includes: Based on the target heading angle, determine the target heading of the vehicle at the initial position of the parking target point; Using the initial position of the parking target point as the position of the vehicle reference point, the center position of the vehicle surround box is determined based on the offset distance between the vehicle reference point and the center position of the vehicle surround box. Get the preset width threshold; The width of the vehicle surround box is determined based on the vehicle width and the preset width threshold. The vehicle bounding box is constructed based on the center position of the vehicle bounding box, the target heading, the vehicle length, and the width of the vehicle bounding box.

8. A parallel parking target point position adjustment device, characterized in that, include: The acquisition module is used to acquire the vehicle's geometric parameters, target parking information, exit direction, and obstacle information. The target parking information includes the target parking space information and the initial position of the target parking point. The building module is used to construct the vehicle bounding box at the initial position of the vehicle at the target parking point based on the vehicle's geometric parameters and target parking information. The determination module is used to determine the vehicle's exit edge line based on the exit direction and the vehicle's enclosure box. The determination module is also used to determine the target obstacle located within the vehicle enclosure based on the obstacle position in the obstacle information and the position of the vehicle enclosure box; The determination module is also used to determine the displacement information of the parking target point based on the type of the target obstacle and the positional relationship between the target obstacle and the exit edge line; The adjustment module is used to adjust the parking target point from its initial position to its target position based on the displacement information.

9. A vehicle, characterized in that, Includes the target point position adjustment device for parallel parking as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the target point position adjustment method for parallel parking as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, The system includes a computer program that, when executed by a processor, implements the target point position adjustment method for parallel parking as described in any one of claims 1 to 7.

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