Method, apparatus, vehicle, and storage medium for discharging an angled parking space

Abstract

The present application discloses a method, apparatus, vehicle, and storage medium for exiting a diagonal parking space. The method includes: obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle; determining a compensation assist line of the current vehicle in the current diagonal parking space, where the compensation assist line is perpendicular to the center line in the vehicle length direction of the current vehicle body and passes through the corner point of the first parking space of the current diagonal parking space, and the corner point of the first parking space is the end point of the parking frame line for exiting in the current diagonal parking space in the direction opposite to the exiting direction of the current diagonal parking space; determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the distance as the compensation distance for exiting of the current vehicle. This solves the problem that it is easy to collide with or get caught by a vehicle parked in the parking space in the exiting direction during diagonal exiting, improves the parking performance, ensures the safety of the driver and passengers, and avoids the occurrence of economic losses.

Description

Technical Field

[0001] This application claims priority to a Chinese patent application with application number 202310590218.6 filed with the China National Intellectual Property Administration on May 23, 2023, and incorporates all the contents of the above application by reference.

[0002] This application relates to the technical field of intelligent driving, and particularly to a method, device, vehicle, and storage medium for exiting a diagonal parking space.

Background Art

[0003] Currently, general automatic parking algorithms mainly use parking space identification algorithms to identify typical vertical and horizontal parking spaces, and perform automatic entry and exit based on the identified parking space types.

[0004] In related technologies, in the scenarios of vertical exit and horizontal exit, the exit method is to calculate the relative pose of the end position based on the pose at the time of triggering the exit, so as to achieve the effect of exiting from a vertical or parallel parking space.

[0005] However, in the case of a diagonal parking space, since there are different angles (such as 45 degrees and 60 degrees) in the parking space, it is impossible to accurately obtain the exit scenes at different angles. By directly calculating the pose of the end position based on the pose at the time of triggering the conventional exit, there is a possibility of colliding with or getting caught on the vehicle parked in the parking space in the exit direction during diagonal exit, causing personal injuries and economic losses.

Summary of the Invention

Problems to be Solved by the Invention

[0006] This application provides a method, apparatus, vehicle, and storage medium for exiting a diagonal parking space to solve the problem that a vehicle parked in a parking space in the exiting direction is likely to collide with or get caught by a vehicle during diagonal exiting, improve the parking performance, ensure the safety of the driver and passengers, and avoid the occurrence of economic losses.

Means for Solving the Problem

[0007] According to one aspect of this application, A method for exiting a diagonal parking space, which is applied to a current vehicle currently parked in a diagonal parking space and in which an obstacle vehicle is parked in an adjacent diagonal parking space on the exiting direction side of the current diagonal parking space, includes: Obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle; Determining a compensation assist line of the current vehicle in the current diagonal parking space, where the compensation assist line is perpendicular to the center line in the vehicle length direction of the current vehicle body and passes through a corner point of a first parking space of the current diagonal parking space, and the corner point of the first parking space is an end point of the exiting parking frame line in the current diagonal parking space in the direction opposite to the exiting direction of the current diagonal parking space; Determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the distance as the exiting compensation distance of the current vehicle; Controlling the current vehicle to move by the exiting compensation distance and then exit from the current diagonal parking space. A method for exiting a diagonal parking space is provided.

[0008] According to another aspect of this application, An apparatus for exiting a diagonal parking space, which is applied to a current vehicle currently parked in a diagonal parking space and in which an obstacle vehicle is parked in an adjacent diagonal parking space on the exiting direction side of the current diagonal parking space, includes: A coordinate acquisition module for acquiring the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle; An assist line determination module for determining a compensation assist line of the current vehicle in the current diagonal parking space, wherein the compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle, and passes through a corner point of a first parking space of the current diagonal parking space, and the corner point of the first parking space is a parking space corner point of an obtuse angle formed by the outbound parking frame line in the current diagonal parking space. A distance determination module for determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the distance as an outbound compensation distance for the current vehicle to exit the current diagonal parking space without contacting the obstacle vehicle; A control module for controlling the current vehicle to move by the outbound compensation distance and then exit from the current diagonal parking space. Provided is an outbound device for a diagonal parking space.

[0009] According to another aspect of the present application, At least one processor; A memory communicatively connected to the at least one processor, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the outbound method of the diagonal parking space according to any embodiment of the present application. Provided is a vehicle.

[0010] According to another aspect of the present application, Stored is a computer instruction for realizing the outbound method of the diagonal parking space according to any embodiment of the present application when executed by a processor. Provided is a computer-readable storage medium.

Advantages of the Invention

[0011] In the technical solution of the embodiment of the present application, the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle are obtained, and the compensation assist line of the current vehicle in the current diagonal parking space is determined. The compensation assist line is perpendicular to the center line in the vehicle length direction of the current vehicle body, and passes through the corner point of the first parking space of the current diagonal parking space. The corner point of the first parking space is the end point of the outbound parking frame line in the current diagonal parking space in the direction opposite to the outbound direction of the current diagonal parking space. Based on the current parking space coordinates and the current vehicle coordinates, the distance between the current vehicle and the compensation assist line is determined, and the distance is determined as the outbound compensation distance of the current vehicle. The outbound compensation distance is for the current vehicle not to contact an obstacle vehicle when exiting from the current diagonal parking space. The current vehicle is controlled to move by the outbound compensation distance and then exit from the current diagonal parking space. By controlling the current vehicle to move to a position almost flush with an obstacle vehicle parked in an adjacent diagonal parking space on the inclined direction side of the current diagonal parking space and then exit from the current diagonal parking space, the problem that the vehicle is likely to collide with or get caught on a vehicle parked in the parking space in the outbound direction during diagonal outbound is solved, the parking performance is improved, the safety of the driver and passengers is ensured, and the occurrence of economic losses is avoided.

Brief Description of the Drawings

[0012] To more clearly explain the technical solution in the embodiment of the present application, the drawings necessary for use in the description of the embodiment are briefly described below. Obviously, the drawings in the following description are only a part of the embodiments of the present application, and those skilled in the art can also obtain other drawings based on these drawings without creative labor.

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0014] For those skilled in the art to better understand the embodiments of the present application, hereinafter, in connection with the drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only some, not all, of the embodiments of the present application. According to the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor all fall within the protection scope of the present application.

[0015] Note that terms such as "first", "second", "third", and "fourth" in the specification, claims, and drawings of this application are for distinguishing similar objects and do not necessarily need to be used to describe a specific order or priority. It should be understood that the data used in this way can be exchanged in appropriate circumstances so that the embodiments of this application described herein can be implemented in an order other than those illustrated or described herein. Also, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily need to be limited to the explicitly described steps or units, and may include other steps or units not explicitly described or specific to these processes, methods, products, or devices.

[0016] [Embodiment 1] FIG. 1 is a flowchart of a method for a vehicle to leave a diagonal parking space according to Embodiment 1 of this application. This embodiment is applicable when there is an obstacle vehicle parked in the adjacent diagonal parking space on the inclined direction side of the current diagonal parking space, and when performing departure control on the current vehicle parked in the current diagonal parking space. The method can be executed by a departure device for the diagonal parking space, and the departure device for the diagonal parking space can be realized in the form of hardware and / or software, and the departure device for the diagonal parking space can be arranged on the current vehicle parked in the current diagonal parking space.

[0017] As shown in FIG. 1, the method includes the following steps.

[0018] In S110, obtain the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle.

[0019] Here, the current vehicle means the object of the warehousing control, that is, the vehicle that currently requires warehousing control. The current diagonal parking space means the diagonal parking space where the current vehicle is located. The current parking space coordinates mean the coordinates of the current parking space, and may include, for example, the coordinates of the four corner points of the current diagonal parking space. The current vehicle coordinates mean the coordinates of the current vehicle, and may include, for example, the coordinates of the four corner points of the current vehicle and the coordinates of the four wheels. Furthermore, the coordinates of preset points on the vehicle such as the center point of the rear axle, the center point of the front axle, and the center point of the vehicle head may be obtained by calculation. Note that the current parking space coordinates and the current vehicle coordinates should be coordinates in the same coordinate system.

[0020] Exemplarily, FIG. 2 is a schematic diagram of a scene of warehousing from a diagonal parking space. As shown in FIG. 2, the current vehicle 11 needs to be warehoused from the current diagonal parking space 12, and there is an obstacle vehicle parked in the adjacent diagonal parking space on the inclined direction side of the current diagonal parking space 12 (that is, the point A side in FIG. 2). A reference coordinate system is constructed, and the current vehicle coordinates in the reference coordinate system (for example, the coordinates of the center point O of the rear axle and the center point Q of the vehicle head of the current vehicle) and the current parking space coordinates (for example, the coordinates of each end point A, B, C, and D of the current diagonal parking space) are obtained. For example, the world coordinate system may establish a reference coordinate system with the center point of the axle of the current vehicle 11 (for example, the center point O of the rear axle) at the origin in the initial warehousing state and the center line in the vehicle length direction of the vehicle (that is, the line connecting the center point O of the rear axle and the center point Q of the vehicle head) as the X-axis, or may establish a reference coordinate system with the point C of the current diagonal parking space as the origin and the parking frame line BC as the X-axis.

[0021] Other reference coordinate systems may be selected according to actual needs, and it can be understood that by selecting an appropriate world coordinate system, the calculation complexity of subsequent calculations can be simplified.

[0022] Specifically, the method for obtaining the current vehicle coordinates may be a method of obtaining the current vehicle coordinates in the reference coordinate system of the current vehicle when the current vehicle enters the current diagonal parking space and storing them, and obtaining the stored current vehicle coordinates when leaving the warehouse. The method for obtaining the current parking space coordinates may be a method of obtaining the map coordinates of the current parking space by GPS positioning and the diagonal parking space map, converting the map coordinates of the current parking space into the reference coordinate system, and obtaining the current parking space coordinates in the reference coordinate system of the current parking space.

[0023] The function of obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle in this step is to determine the relative position relationship between the current vehicle and the current parking space, and to determine the distance that needs to be compensated during the out-of-warehouse control of the current vehicle based on the relative position relationship between the two.

[0024] In S120, determine the compensation assist line of the current vehicle in the current diagonal parking space. The compensation assist line is perpendicular to the center line in the vehicle length direction of the current vehicle body, passes through the corner point of the first parking space of the current diagonal parking space, and the corner point of the first parking space is the end point in the opposite direction of the out-of-warehouse direction of the out-of-warehouse parking frame line in the current diagonal parking space.

[0025] Here, the center line in the vehicle length direction of the vehicle body is the line connecting the center point of the rear axle and the center point of the front axle (or the center point of the vehicle head) of the current vehicle. The compensation assist line may be understood as an assist line created to determine the out-of-warehouse compensation distance. The out-of-warehouse parking frame line is the parking frame line in the parking direction of the current vehicle in the current diagonal parking space, and the corner point of the first parking space is the corner point of the parking space formed by the obtuse angle of the out-of-warehouse parking frame line in the current diagonal parking space. For example, in the scene of leaving the warehouse from the diagonal parking space shown in Figure 2, the out-of-warehouse parking frame line is the parking frame line AB, the out-of-warehouse direction of the current diagonal parking space is the A side of the end point of the out-of-warehouse parking frame line, and the corner point of the first parking space is the end point B in the opposite direction of the out-of-warehouse direction of the out-of-warehouse parking frame line AB in the current diagonal parking space, that is, the corner point B of the parking space is the corner point of the first parking space.

[0026] Specifically, a straight line perpendicular to the center line in the vehicle length direction of the current vehicle body is created through the corner point of the first parking space in the current diagonal parking space (alternatively, a straight line parallel to the center line in the vehicle length direction of the current vehicle body may be created through the corner point of the first parking space in the current diagonal parking space), and this straight line is set as the compensation assist line of the current vehicle in the current diagonal parking space.

[0027] Exemplarily, FIG. 3 is a schematic diagram of the relative positional relationship between an adjacent diagonal parking space and a vehicle. As shown in the current diagonal parking space 12 and the current vehicle 11 in FIG. 3, a straight line perpendicular to the center line OQ in the vehicle length direction of the current vehicle body 11 is created through the corner point B of the first parking space in the current diagonal parking space 12, and there is a perpendicular point K between this straight line and the center line OQ in the vehicle length direction of the vehicle body (or the extension line of the center line OQ in the vehicle length direction of the vehicle body). Thus, it is determined that the straight line BK is the compensation assist line of the current vehicle 11 in the current diagonal parking space 12.

[0028] As can be seen from FIG. 3, the departure assist line BK is substantially flush with the front of the obstacle vehicle 21 placed in the adjacent diagonal parking space 22. This step can easily and simply determine the distance between the front of the current vehicle and the front of the obstacle vehicle by creating the compensation assist line of the current vehicle in the current diagonal parking space, and determine the distance that needs to be compensated when the current vehicle departs from the current diagonal parking space.

[0029] In S130, based on the current parking space coordinates and the current vehicle coordinates, the interval distance between the current vehicle and the compensation assist line is determined, and the interval distance is determined as the departure compensation distance of the current vehicle.

[0030] Here, the departure compensation distance means the distance that needs to be compensated during the departure control of the current vehicle, and it may be understood as the distance that the current vehicle needs to move in the departure direction before the departure control in order to avoid a collision with the obstacle vehicle.

[0031] Specifically, the current distance between the vehicle and the compensation assist line is determined as the vehicle's ex-factory compensation distance. Since the vehicle head direction of the current vehicle is perpendicular to the compensation assist line and the distance between any point on the vehicle head of the current vehicle and the compensation assist line is equal, the distance between any point on the vehicle head of the current vehicle and the compensation assist line can be considered as the vehicle's ex-factory compensation distance. For ease of calculation, as shown in FIG. 3, in the embodiment of the present application, the distance KQ between the center point Q of the vehicle head of the current vehicle 11 and the compensation assist line BK is taken as the vehicle's ex-factory compensation distance.

[0032] Exemplarily, as shown in FIG. 3, the method for determining the ex-factory compensation distance KQ may be a method of obtaining the coordinates of the center point Q of the vehicle head and the coordinates of the perpendicular point K on the center line OQ in the vehicle length direction of the vehicle body (or the extension line of the center line OQ in the vehicle length direction of the vehicle body), and determining the ex-factory compensation distance KQ based on the coordinates of the center point Q of the vehicle head and the coordinates of the perpendicular point K. Alternatively, based on the coordinates of each corner point A, B, C, and D of the current parking space in FIG. 3, and the geometric figures formed by each point such as the center point O of the rear axle, the center point Q of the vehicle head, and the perpendicular point K, the ex-factory compensation distance KP can also be obtained by the method of obtaining the solution of plane geometry. There may be multiple specific methods for obtaining the solution of plane geometry, and the embodiment of the present application does not limit this.

[0033] In this step, by taking the distance between the current vehicle and the set compensation assist line as the ex-factory compensation distance, the ex-factory compensation distance of the current vehicle can be calculated in a simple manner.

[0034] In S140, control the current vehicle to move only by the ex-factory compensation distance and then drive out of the current diagonal parking space.

[0035] Exemplarily, the method of controlling the current vehicle to move only by the outbound compensation distance and then control the current vehicle to exit from the current diagonal parking space may be a method of controlling the current vehicle to move only by the outbound compensation distance and then control the current vehicle to exit based on the inbound path in which the stored current vehicle enters the current diagonal parking space, or may be a method of planning the outbound planned path of the current vehicle based on the position and attitude of the current vehicle after moving only by the outbound compensation distance and the expected position and attitude of the current vehicle after exiting from the current diagonal parking space, and controlling the current vehicle to exit from the current diagonal parking space based on the outbound planned path.

[0036] In this step, by compensating the outbound compensation distance for the current vehicle and controlling the current vehicle to move to a position almost flush with the obstacle vehicle placed in the adjacent diagonal parking space and then exit from the current diagonal parking space, it is possible to prevent the current vehicle from colliding with or getting caught on the obstacle vehicle parked in the adjacent diagonal parking space on the inclined direction side of the current diagonal parking space due to a certain turning angle during the exit of the current vehicle from the current diagonal parking space.

[0037] In the technical solution of the embodiment of the present application, the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle are obtained, the compensation assist line of the current vehicle in the current diagonal parking space is determined, and the compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle and passes through the corner point of the first parking space of the current diagonal parking space. The corner point of the first parking space is the end point of the outgoing parking frame line in the current diagonal parking space in the direction opposite to the outgoing direction of the current diagonal parking space. The distance between the current vehicle and the compensation assist line is determined based on the current parking space coordinates and the current vehicle coordinates, and the distance is determined as the outgoing compensation distance of the current vehicle. The outgoing compensation distance is for the current vehicle not to contact an obstacle vehicle during the outgoing from the current diagonal parking space. The current vehicle is controlled to move by the outgoing compensation distance and then exit from the current diagonal parking space. By controlling the current vehicle to move to a position almost flush with an obstacle vehicle parked in an adjacent diagonal parking space on the inclined side of the current diagonal parking space and then exit from the current diagonal parking space, the problem that the vehicle is likely to collide with or get caught on a vehicle parked in the parking space in the outgoing direction during the diagonal outgoing is solved, the parking performance is improved, the safety of the driver and passengers is ensured, and the occurrence of economic losses is avoided.

[0038] [Embodiment 2] FIG. 4 is a flowchart of a method for exiting a diagonal parking space according to Embodiment 2 of the present application. This embodiment further limits the determination method of the "outgoing compensation distance of the current vehicle" in the above embodiment. As shown in FIG. 4, the method includes the following steps.

[0039] In S210, the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle are obtained.

[0040] In S220, determine the compensation assist line of the current vehicle in the current diagonal parking space. The compensation assist line is perpendicular to the center line of the vehicle body in the vehicle length direction of the current vehicle, passes through the corner point of the first parking space of the current diagonal parking space, and the corner point of the first parking space is the obtuse angle parking space corner point formed by the outbound parking frame line in the current diagonal parking space.

[0041] In S230, determine the outbound type of the current vehicle based on the current parking space coordinates and the current vehicle coordinates.

[0042] Here, the outbound type of the current vehicle may include head - side outbound and tail - side outbound. Head - side outbound means that when the current vehicle departs, the vehicle head faces the outbound direction of the current diagonal parking space, and tail - side outbound means that when the current vehicle departs, the vehicle tail faces the outbound direction of the current diagonal parking space.

[0043] Exemplarily, the method of determining the outbound type of the current vehicle based on the current parking space coordinates and the current vehicle coordinates may be a method of determining the direction of the vehicle head based on the current parking space coordinates and the current vehicle coordinates, and then determining the outbound type of the current vehicle based on the direction of the vehicle head and the inbound direction or outbound direction of the current diagonal parking space. Specifically, if the direction of the vehicle head of the current vehicle coincides with the outbound direction, it is determined that the current outbound type is head - side outbound; if the direction of the vehicle head of the current vehicle coincides with the inbound direction, it is determined that the current outbound type is tail - side outbound. Further, it may also be a method of determining the direction of the vehicle tail based on the current parking space coordinates and the current vehicle coordinates, and then determining the outbound type of the current vehicle based on the direction of the vehicle tail and the inbound direction or outbound direction of the current diagonal parking space. Specifically, if the direction of the vehicle tail of the current vehicle coincides with the outbound direction, it is determined that the current outbound type is tail - side outbound; if the direction of the vehicle tail of the current vehicle coincides with the inbound direction, it is determined that the current outbound type is head - side outbound.

[0044] In S240, determine the intersection distance between the first vertical point, which is the intersection of the center line in the vehicle length direction of the vehicle body and the compensation assist line, and the first intersection point, which is the intersection of the center line in the vehicle length direction of the vehicle body and the outbound parking frame line.

[0045] Here, since the center line in the vehicle length direction of the vehicle body is perpendicular to the compensation assist line, the first vertical point is the intersection of the center line in the vehicle length direction of the vehicle body (or the extension line of the center line in the vehicle length direction of the vehicle body) and the compensation assist line. The first intersection point is the intersection of the center line in the vehicle length direction of the vehicle body (or the extension line of the center line in the vehicle length direction of the vehicle body) and the outbound parking frame line.

[0046] Specifically, FIG. 5 is a schematic diagram of the relative position between the current vehicle and the current diagonal parking space. As shown in FIG. 5, the center line OQ in the vehicle length direction of the vehicle body and the compensation assist line BK have an intersection point K on the extension line of the center line OQ in the vehicle length direction of the vehicle body. That is, the first vertical point is point K. The first intersection point is the intersection point P between the extension line of the center line OQ in the vehicle length direction of the vehicle body and the outbound parking frame line AB. Thereby, the intersection distance is, that is, the length of KP.

[0047] In S250, when the outbound type is head - side outbound, obtain the first distance between the vehicle axle center point and the first intersection point, and the first center point distance between the vehicle head center point and the vehicle axle center point, calculate the first distance difference value between the first distance and the first center point distance, and determine the difference value between the first distance difference value and the intersection distance as the interval distance.

[0048] Specifically, when the vehicle leaves the warehouse, there are two cases: the vehicle head side leaving the warehouse and the vehicle tail side leaving the warehouse. As shown in Figure 5, the interval distance KQ = QP - KP, and QP = OP - OQ (or QP = O’P - O’Q), where point O or point O’ is the center point of the front axle or the rear axle of the vehicle. When the current vehicle leaving the warehouse type shown in Figure 5 is the vehicle head side leaving the warehouse, point Q is the center point of the vehicle head, the first distance OP (or O’P) is the distance between the center point of the axle O (or O’) and the first intersection point P, and the first center point distance OQ (or O’Q) is the distance between the center point of the axle O (or O’) and the center point of the vehicle head Q. Thus, the first distance difference value QP is the difference value between the first distance OP (or O’P) and the first center point distance OQ (or O’Q), the interval distance is the difference value between the first distance difference value QP and the intersection distance KP, and the interval distance between the center point of the vehicle head and the compensation assist line can be used to represent the interval distance between the current vehicle and the compensation assist line.

[0049] In S260, when the leaving warehouse type is the vehicle tail side leaving the warehouse, obtain the first distance between the center point of the axle and the first intersection point, and the second center point distance between the center point of the vehicle tail and the center point of the axle, calculate the second distance difference value between the first distance and the second center point distance, and determine the difference value between the second distance difference value and the intersection distance as the interval distance.

[0050] When the current vehicle leaving the warehouse type shown in Figure 5 is the vehicle head side leaving the warehouse, point Q is the center point of the vehicle tail, the first distance OP (or O’P) is the distance between the center point of the axle O (or O’) and the first intersection point P, and the second center point distance OQ (or O’Q) is the distance between the center point of the axle O (or O’) and the center point of the vehicle tail Q. Thus, the second distance difference value QP is the difference value between the first distance OP (or O’P) and the second center point distance OQ (or O’Q), the interval distance between the center point of the vehicle tail and the compensation assist line is the difference value between the second distance difference value QP and the intersection distance KP, and the interval distance between the center point of the vehicle tail and the compensation assist line can be used to represent the interval distance between the current vehicle and the compensation assist line.

[0051] In S270, determine the interval distance as the leaving warehouse compensation distance of the current vehicle.

[0052] Specifically, in the scenario where the current vehicle's outbound type is the front-end outbound, the distance between the calculated center point of the front of the current vehicle and the compensation assist line is the outbound compensation distance of the current vehicle. In the scenario where the current vehicle's outbound type is the rear-end outbound, the distance between the calculated center point of the rear of the current vehicle and the compensation assist line is the outbound compensation distance of the current vehicle.

[0053] In S280, control the current vehicle to move by only the outbound compensation distance and then exit from the current diagonal parking space.

[0054] In the technical solution of the embodiment of the present application, obtain the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle, determine the compensation assist line of the current vehicle in the current diagonal parking space. The compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle and passes through the corner point of the first parking space of the current diagonal parking space. The corner point of the first parking space is the end point of the outbound parking frame line in the current diagonal parking space in the direction opposite to the outbound direction of the current diagonal parking space. Determine the distance between the current vehicle and the compensation assist line based on the current parking space coordinates, the current vehicle coordinates, and the outbound type of the current vehicle, and determine the distance as the outbound compensation distance of the current vehicle. Control the current vehicle to move by only the outbound compensation distance and then exit from the current diagonal parking space. By controlling the current vehicle to move to a position almost flush with the obstacle vehicle parked in the adjacent diagonal parking space on the inclined direction side of the current diagonal parking space and then exit from the current diagonal parking space, the problem that it is easy to collide with or get caught on the vehicle parked in the parking space in the outbound direction during the diagonal outbound is solved, the parking performance is improved, the safety of the driver and passengers is ensured, and the occurrence of economic losses is avoided.

[0055] While determining the intersection distance between the first foot point and the first intersection point in the above step S240, as shown in FIG. 5, since neither the first foot point K nor the first intersection point P is a feature point on the parking frame line of the current diagonal parking space (for example, the corner point of the parking space or the center point of the parking frame line), nor a feature point on the vehicle (for example, the center point of the axle, the center point of the vehicle head / vehicle tail, or the corner point of the vehicle), it is difficult to accurately obtain the coordinates of the first foot point K and the coordinates of the first intersection point P based on the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle, and to determine the intersection distance between the first foot point K and the first intersection point P based on the coordinates of the first foot point K and the coordinates of the first intersection point P.

[0056] Since point K is the foot point of the compensation assist line KB and the center line OQ in the vehicle length direction of the current vehicle body, and △PKB is a right triangle, based on the trigonometric function relationship of the right triangle

Number

[0057] Moreover, when the vehicle enters the current diagonal parking space, generally, the self-position estimation thread function is used to place the current vehicle body upright, that is, it is considered that the current vehicle is substantially parallel to the current diagonal parking space. When the current vehicle is parallel to the current diagonal parking space, the center line in the vehicle length direction of the vehicle body is parallel to the parking spaces on both sides of the current diagonal parking space, that is, the compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body. Therefore, in one preferred embodiment, determining the intersection distance between the first foot point and the first intersection point in S240 includes the following steps.

[0058] In S2421, based on the current parking space coordinates, determine the coordinates of the corner points of the second parking space and the cosine value of the angle of the second parking space. The corner points of the second parking space are the end points of the outgoing parking frame line in the current diagonal parking space in the outgoing direction of the current diagonal parking space.

[0059] As shown in Fig. 5, the set departure direction is the A side, and the corner point of the second parking space is the end point A of the departure parking frame line AB in the current diagonal parking space 12 in the departure direction of the current diagonal parking space. The coordinates of the corner point of the second parking space are A(A x ,A y ), the second parking space angle is ∠BAD, and the cosine value of the angle of the second parking space is cos∠BAD.

[0060] Specifically, determining the coordinates of the corner point A of the second parking space and the cosine value of the angle of the second parking space based on the current parking space coordinates specifically includes the following. Obtain the coordinates of the corner points A, B, and D of the parking space in the current diagonal parking space, in order A(A x ,A y ), B(B x ,B y ), D(D x ,D y ), and based on this

Number

Number

[0061] In S2422, determine the coordinates of the second foot point on the second perpendicular line based on the current parking space coordinates and the current vehicle coordinates. The second perpendicular line is a line segment perpendicular to the departure parking frame line of the current diagonal parking space passing through the center point of the vehicle axle of the current vehicle, and the second foot point is the intersection point of the second perpendicular line and the departure parking frame line.

[0062] As shown in Fig. 5, create a line segment perpendicular to the departure parking frame line AB of the front diagonal parking space through the center point O (front axle center point or rear axle center point) of the current vehicle axle to obtain the second perpendicular line OR. The intersection point of the second perpendicular line OR and the departure parking frame line AB is the second foot point R. The coordinates of points A, B, and O are all known, in order A(A x ,A y ), B(Bx , B y ), and O(O x , O y ) Therefore, based on this,

Number

Number

Number

Number

Number

Number

Number

[0063] The coordinates of point R can be expressed as follows.

Number

[0064] Substitute the slope k into the coordinate formula of point R, and the coordinates (R x , R y ) of point R, which is the foot of the perpendicular, can be calculated.

[0065] In S2423, based on the coordinates of the corner points of the second parking space and the coordinates of the second perpendicular point on the outbound parking frame line, a second distance between the corner point of the second parking space and the second perpendicular point is determined.

[0066] Specifically, as shown in FIG. 5, the second distance is the length of the line segment AR between the corner point A of the second parking space and the second perpendicular point R. The coordinates of the corner point A(A x ,A y ) and the coordinates of the second perpendicular point R(R x ,R y ) are known. When the second distance between the corner point A of the second parking space and the second perpendicular point R is calculated as follows.

Equation

[0067] In S2424, based on the coordinates of the center point of the axle and the coordinates of the second perpendicular point, a third distance between the center point of the axle and the second perpendicular point is determined.

[0068] Specifically, as shown in FIG. 5, the third distance is the length of the line segment OR between the center point O of the axle and the second perpendicular point R. The coordinates of the center point O of the axle O(O x ,O y ) and the coordinates of the second perpendicular point R(R x ,R y ) are known. When the second distance between the center point O of the axle and the second perpendicular point R is calculated as follows.

Equation

[0069] In S2425, according to the laws of plane geometry, based on the second distance, the third distance, and the cosine value of the angle of the second parking space, an intersection distance between the first perpendicular point and the first intersection point is determined.

[0070] Specifically, as shown in FIG. 5, the first vertical point K may be referred to as the intersection point between the center line in the vehicle length direction of the vehicle body and the compensation assist line. Therefore, the distance between the first vertical point K and the first intersection point P is the intersection distance. That is, the intersection distance is the length of the line segment KP between the first vertical point K and the first intersection point P.

[0071] As shown in FIG. 5, KP is the adjacent right-angled side of ∠BPK in the right triangle

Number

Number

Number

[0072] Preferably, obtaining the first distance between the vehicle axle center point and the first intersection point includes determining the first distance between the vehicle axle center point and the first intersection point according to the plane geometry law based on the third distance and the cosine value of the angle of the second parking space.

[0073] Specifically, although the coordinates of the first intersection point P are unknown, the first distance OP is the adjacent right-angled side of ∠OPR in the right triangle

Number

Number

[0074] Thus, in this preferred embodiment, the compensation distance is as follows.

Number

[0075] [Embodiment 3] FIG. 6 is a flowchart of a method for exiting a diagonal parking space according to Embodiment 3 of the present application. This embodiment further limits the method of "exiting from the current diagonal parking space" in the above embodiment. As shown in FIG. 6, the method includes the following steps.

[0076] In S310, obtain the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle.

[0077] In S320, determine the compensation assist line of the current vehicle in the current diagonal parking space. The compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle and passes through the corner point of the first parking space of the current diagonal parking space. The corner point of the first parking space is the end point of the exit parking frame line in the current diagonal parking space in the direction opposite to the exit direction of the current diagonal parking space.

[0078] In S330, determine the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determine the distance as the exit compensation distance of the current vehicle.

[0079] In S340, obtain the entry path of the current vehicle, and predict whether the current vehicle enters the adjacent diagonal parking space in the exit direction when exiting from the current diagonal parking space along the entry path.

[0080] Here, the entry path may be understood as the path used and memorized when the current vehicle enters the current diagonal parking space.

[0081] Specifically, when the current vehicle is exiting from the current diagonal parking space according to the inbound route, the position of the current vehicle at each route point on the inbound route is acquired. Based on the position of the current vehicle at each route point, it is compared with the current parking space coordinates of the current diagonal parking space and the adjacent parking space coordinates in the exit direction. When the current vehicle is exiting from the current diagonal parking space according to the inbound route, it is determined whether the vehicle enters the adjacent diagonal parking space in the exit direction beyond the current parking space. Thereby, it is realized to predict whether there is a possibility that the current vehicle collides with an obstacle vehicle when exiting from the current diagonal parking space according to the inbound route.

[0082] In S350, if NO (when not entering the adjacent diagonal parking space), the current vehicle is controlled to move by the exit compensation distance and then exit from the current diagonal parking space according to the inbound route.

[0083] Specifically, when the current vehicle is exiting from the current diagonal parking space according to the inbound route and does not enter the adjacent diagonal parking space in the exit direction, it means that the current vehicle does not collide with the obstacle vehicle parked in the adjacent diagonal parking space when exiting from the current diagonal parking space according to the inbound route. Therefore, the current vehicle can be controlled to move by the exit compensation distance and then exit from the current diagonal parking space according to the inbound route.

[0084] In S360, if YES (when entering the adjacent diagonal parking space), the minimum lateral exit distance between the current vehicle and the adjacent diagonal parking space is determined based on the exit compensation distance, the exit planned route of the current vehicle is determined based on the exit compensation distance and the minimum lateral distance, and the vehicle exits from the current diagonal parking space based on the exit planned route.

[0085] Here, the minimum lateral distance for departure is the minimum value of the lateral distance from the obstacle vehicle parked in the adjacent diagonal parking space to ensure that the current vehicle does not contact the obstacle vehicle parked in the adjacent diagonal parking space during departure. FIG. 7 is a schematic diagram of the target position and orientation of the current vehicle in the departure scene of the diagonal parking space. The distance L shown in FIG. 7 is the minimum lateral distance for departure.

[0086] Specifically, when the current vehicle enters the adjacent diagonal parking space in the departure direction during departure from the current diagonal parking space along the inbound route, it indicates that there is a possibility that the current vehicle may collide with the obstacle vehicle parked in the adjacent diagonal parking space during departure from the current diagonal parking space along the inbound route. Therefore, after moving by only the departure compensation distance, the current vehicle should not be controlled to directly depart from the current diagonal parking space along the inbound route. It is necessary to re-determine the departure planned route.

[0087] The main idea for determining the departure planned route is to obtain the initial position and orientation in the initial state of departure and the target position and orientation in the completed state of departure, and determine the departure planned route based on the initial position and orientation and the target position and orientation. Here, the initial position and orientation in the initial state of departure is the position and orientation after the current vehicle has moved by the departure compensation distance. The target position and orientation is the position and orientation when the distance between the current vehicle and the obstacle vehicle parked in the adjacent diagonal parking space is the minimum measured distance for departure. Here, the minimum measured distance for departure can be calculated based on the departure compensation distance.

[0088] Preferably, determining the minimum lateral distance for departure between the current vehicle and the adjacent diagonal parking space based on the departure compensation distance includes: when the departure compensation distance is less than or equal to the calibrated distance, determining the sum of the departure compensation distance and the calibrated distance as the minimum lateral distance for departure; and when the departure compensation distance is greater than the calibrated distance, determining the calibrated distance as the minimum lateral distance for departure.

[0089] In order to ensure that the current vehicle does not come into contact with an obstacle vehicle parked in an adjacent diagonal parking space during vehicle exit, it is preferable that the minimum side distance during exit is not too small. At the same time, in order to reduce the interference with vehicles on the road outside the parking space or oncoming vehicles by reducing the exit distance of the current vehicle as much as possible, it is not the case that the larger the minimum side distance during exit, the better. Therefore, the minimum side distance during exit is determined by comparing the compensation distance during exit with the calibrated distance. As a specific method, when the compensation distance during exit is less than or equal to the calibrated distance, the sum of the compensation distance during exit and the calibrated distance is determined as the minimum side distance during exit. When the compensation distance during exit is greater than the calibrated distance, the calibrated distance is determined as the minimum side distance during exit.

[0090] In the technical solution of the embodiment of the present application, the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle are obtained, and the compensation assist line of the current vehicle in the current diagonal parking space is determined. The compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle and passes through the corner point of the first parking space of the current diagonal parking space. The corner point of the first parking space is the end point of the exit parking frame line in the current diagonal parking space in the direction opposite to the exit direction of the current diagonal parking space. Based on the current parking space coordinates and the current vehicle coordinates, the interval distance between the current vehicle and the compensation assist line is determined, and the interval distance is determined as the compensation distance during exit of the current vehicle. The entry path of the current vehicle is obtained, and it is predicted whether the current vehicle will collide with an obstacle vehicle during exit from the current diagonal parking space along the entry path. If the answer is NO, the current vehicle is controlled to move by the compensation distance during exit and then exit from the current diagonal parking space along the entry path. If the answer is YES, the minimum side distance between the current vehicle and the obstacle vehicle at the end of exit is estimated based on the compensation distance during exit, the planned exit path of the current vehicle is determined based on the minimum side distance, and the current vehicle exits from the current diagonal parking space based on the planned exit path, so as to prevent the vehicle in the diagonal parking space from colliding with the vehicle in the adjacent parking space during exit, improve the parking performance, ensure the safety of the driver and passengers, and avoid the occurrence of economic losses.

[0091] Preferably, determining the outbound planned path of the current vehicle based on the minimum lateral distance and the outbound compensation distance includes: predicting the target position and orientation of the current vehicle when the current vehicle is parallel to the outbound parking frame line of the current diagonal parking space and the distance from the adjacent diagonal parking space satisfies the minimum lateral distance for outbound; obtaining the initial position and orientation of the current vehicle after moving by the outbound compensation distance; and determining the outbound planned path of the current vehicle based on the initial position and orientation and the target position and orientation.

[0092] Specifically, when the current vehicle has exited until it is parallel to the outbound parking frame line of the current diagonal parking space, it is considered that the current vehicle has completed the exit. In this case, it is also necessary to obtain the lateral distance between the current vehicle and the obstacle vehicle parked in the adjacent diagonal parking space, and determine the position and orientation when the lateral distance is the minimum lateral distance for outbound as the target position and orientation of the current vehicle. Determine the position and orientation of the current vehicle after moving by the outbound compensation distance as the initial position and orientation, and perform path planning based on the initial position and orientation and the target position and orientation, so as to obtain the outbound planned path of the current vehicle.

[0093] [Embodiment 4] FIG. 8 is a schematic structural diagram of an outbound device for a diagonal parking space according to Embodiment 4 of the present application. As shown in FIG. 8, the device includes: a coordinate acquisition module 410 for acquiring the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle; an assist line determination module 420 for determining a compensation assist line of the current vehicle in the current diagonal parking space, where the compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle and passes through a corner point of the first parking space of the current diagonal parking space, and the corner point of the first parking space is the parking space corner point of the obtuse angle formed by the outbound parking frame line in the current diagonal parking space; A distance determination module 430 that determines the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determines the distance as a departure compensation distance at which the current vehicle exits the current diagonal parking space without contacting the disabled vehicle; A departure control module 440 that controls the current vehicle to move by the departure compensation distance and then exit from the current diagonal parking space.

[0094] Preferably, the distance determination module 430 A departure type determination unit for determining the departure type of the current vehicle based on the current parking space coordinates and the current vehicle coordinates; An intersection distance determination unit for determining the intersection distance between a first foot point that is the intersection of the center line in the vehicle length direction of the vehicle body and the compensation assist line, and a first intersection point that is the intersection of the center line in the vehicle length direction of the vehicle body and the departure parking frame line; When the departure type is a head - side departure, a first distance between the axle center point and the first intersection point, and a first center point distance between the axle center point and the head center point are obtained, a first distance difference value between the first distance and the first center point distance is calculated, and a first interval distance determination unit for determining the difference value between the first distance difference value and the intersection distance as the interval distance; When the departure type is a tail - side departure, a first distance between the axle center point and the first intersection point, and a second center point distance between the axle center point and the tail center point are obtained, a second distance difference value between the first distance and the second center point distance is calculated, and a second interval distance determination unit for determining the difference value between the second distance difference value and the intersection distance as the interval distance.

[0095] Preferably, the intersection distance determination unit A corner point determination subunit for determining the coordinates of the corner points of the second parking space and the cosine value of the angle of the second parking space based on the current parking space coordinates, wherein the corner points of the second parking space are the corner points of the outgoing parking frame line in the current diagonal parking space at the endpoints in the outgoing direction of the current diagonal parking space, and the corner point determination subunit; A second footpoint determination subunit for determining the coordinates of the second footpoint on the second perpendicular line based on the current parking space coordinates and the current vehicle coordinates, wherein the second perpendicular line is a line segment perpendicular to the outgoing parking frame line of the current diagonal parking space at the center point of the vehicle axle of the current vehicle, and the second footpoint is the intersection point of the second perpendicular line and the outgoing parking frame line, and the second footpoint determination subunit; A second distance determination subunit for determining a second distance between the corner point of the second parking space and the second footpoint based on the coordinates of the corner point of the second parking space and the coordinates of the second footpoint on the outgoing parking frame line; A third distance determination subunit for determining a third distance between the vehicle axle center point and the second footpoint based on the vehicle axle center point coordinates and the second footpoint coordinates; An intersection distance determination subunit for determining an intersection distance between the first footpoint and the first intersection point according to the plane geometry law based on the second distance, the third distance and the cosine value of the angle of the second parking space, including.

[0096] Preferably, the second interval distance determination unit Includes a first distance determination subunit for determining a first distance between the vehicle axle center point and the first intersection point according to the plane geometry law based on the third distance and the cosine value of the angle of the second parking space.

[0097] Preferably, the outgoing control module 440 An incoming path determination unit for acquiring the incoming path of the current vehicle; A prediction unit for predicting whether the current vehicle enters the adjacent diagonal parking space in the outgoing direction during the outgoing process from the current diagonal parking space along the incoming path; If it is NO (when not entering the adjacent diagonal parking space), a first departure control unit for controlling the current vehicle to move by the departure compensation distance and then depart from the current diagonal parking space according to the entry route; If it is YES (when entering the adjacent diagonal parking space), a second departure control unit for determining the minimum lateral departure distance between the current vehicle and the adjacent diagonal parking space based on the departure compensation distance, determining the planned departure route of the current vehicle based on the minimum lateral departure distance and the departure compensation distance, and departing from the current diagonal parking space based on the planned departure route, is included.

[0098] Preferably, the second departure control unit specifically predicts the target position and attitude of the current vehicle when the current vehicle is parallel to the departure parking frame line of the current diagonal parking space and the distance from the adjacent diagonal parking space satisfies the minimum lateral departure distance; obtains the initial position and attitude of the current vehicle after moving by the departure compensation distance; and is used to determine the planned departure route of the current vehicle based on the initial position and attitude and the target position and attitude.

[0099] Preferably, the second departure control unit further when the departure compensation distance is less than or equal to the calibrated distance, determines the sum of the departure compensation distance and the calibrated distance as the minimum lateral departure distance; when the departure compensation distance is greater than the calibrated distance, determines the calibrated distance as the minimum lateral departure distance, and is used for this.

[0100] The departure device for the diagonal parking space according to the embodiment of the present application can execute the departure method for the diagonal parking space according to any embodiment of the present application, and has a functional module and beneficial effects corresponding to the execution of the method.

[0101] [Embodiment 5] FIG. 9 shows a schematic diagram of the structure of a vehicle 10 that can be used to implement the embodiments of the present application. The components, their connections, relationships, and their functions shown in this document are merely exemplary and do not limit the implementation of the present application described and / or claimed in this document.

[0102] As shown in FIG. 9, the vehicle 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11. For example, it is a read-only memory (ROM) 12 and a random access memory (RAM) 13. Here, a computer program executable by the at least one processor is stored in the memory, and the processor 11 can execute various appropriate operations and processes based on the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data necessary for the operation of the vehicle 10 may be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] A plurality of components in the vehicle 10 are connected to the I / O interface 15, and include an input unit 16 such as a keyboard and a mouse, an output unit 17 such as various displays and speakers, a storage unit 18 such as a magnetic disk and an optical disk, and a communication unit 19 such as a network card, a modem, and a wireless communication transceiver. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0104] Processor 11 may be a general-purpose and / or dedicated processing assembly having processing and computing capabilities. Some examples of processor 11 may include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, computing units that execute various machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, for example, the method for exiting a diagonal parking space.

[0105] In some embodiments, the method for exiting a diagonal parking space can be implemented as a computer program and tangibly included in a computer-readable storage medium such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed in vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for exiting the diagonal parking space described above can be executed. Alternatively, in other embodiments, processor 11 can be configured to execute the method for exiting the diagonal parking space in any other suitable manner (e.g., via firmware).

[0106] The various embodiments of the systems and techniques described in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include the following. Implemented in one or more computer programs, the one or more computer programs can be executed and / or interpreted in a programmable system including at least one programmable processor, the programmable processor being a dedicated or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and can transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] The computer programs for implementing the methods of this application can be coded in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing device, whereby when the computer program is executed by the processor, the functions / operations defined in the flowchart and / or block diagram are implemented. The computer program may be executed entirely on the device, partially on the device, partially on the device as an independent software package and partially on a remote device, or entirely on a remote device or server.

[0108] In the specification of the present application, a computer-readable storage medium may be a tangible medium that contains or stores a computer program used in or in conjunction with an instruction execution system, apparatus, or vehicle. The computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or vehicle, or any suitable combination of the foregoing. The computer-readable storage medium may also be a machine-readable signal medium. Further specific examples of the machine-readable storage medium include electrical connections by one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or flash memory, an optical fiber, a portable compact disk read-only disk (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0109] To provide interaction with a user, the systems and techniques described herein can be implemented in a vehicle, which has a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user, and a keyboard and a pointing device (e.g., a mouse or trackball) by which the user can provide input to the vehicle. Other types of devices can be further used to provide interaction with the user. For example, the feedback provided to the user may be any form of sensing feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user can be received in any form (including voice input, speech input, or tactile input).

[0110] The systems and techniques described herein can be implemented in a computing system that includes a background component (e.g., a data server), or a computing system that includes an intermediate component (e.g., an application server), or a computing system that includes a front-end component (e.g., a user computer having a graphical user interface or a network browser through which a user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such background, intermediate, or front-end components. The components of the system can be connected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0111] The computing system may include a client and a server. The client and the server are generally separated from each other and usually interact via a communication network. A computer program executed on corresponding computers and having a client-server relationship with each other generates the relationship between the client and the server. The server may be a cloud server, also referred to as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and is used to solve the defects of difficult management and weak traffic scalability existing in conventional physical hosts and VPS services.

[0112] It should be understood that the various forms of flows shown above can be used to rearrange, add, or delete steps. For example, each step described in this application may be executed in parallel, sequentially, or in a different order, and this document is not limited here as long as the desired results of the technical solution of this application can be achieved.

Claims

1. A method for exiting a diagonal parking space, which is applied to a current vehicle currently parked in the diagonal parking space, and there is an obstacle vehicle parked in the adjacent diagonal parking space on the exit direction side of the current diagonal parking space, obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle; determining a compensation assist line of the current vehicle in the current diagonal parking space, wherein the compensation assist line is perpendicular to the center line in the vehicle length direction of the current vehicle body, and passes through a corner point of a first parking space of the current diagonal parking space, and the corner point of the first parking space is an end point of the exit parking frame line in the current diagonal parking space in the direction opposite to the exit direction of the current diagonal parking space; determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the distance as the exit compensation distance of the current vehicle; controlling the current vehicle to move by the exit compensation distance and then exit from the current diagonal parking space. A method for exiting a diagonal parking space.

2. Determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates includes: determining the exit type of the current vehicle based on the current parking space coordinates and the current vehicle coordinates; determining the intersection distance between a first perpendicular point, which is the intersection of the center line in the vehicle length direction of the vehicle body and the compensation assist line, and a first intersection point, which is the intersection of the center line in the vehicle length direction of the vehicle body and the exit parking frame line; when the exit type is head-side exit, obtaining a first distance between the axle center point and the first intersection point, and a first center point distance between the axle center point and the head center point, calculating a first distance difference value between the first distance and the first center point distance, and determining the difference value between the first distance difference value and the intersection distance as the interval distance; when the exit type is tail-side exit, obtaining a first distance between the axle center point and the first intersection point, and a second center point distance between the axle center point and the tail center point, calculating a second distance difference value between the first distance and the second center point distance, and determining the difference value between the second distance difference value and the intersection distance as the interval distance. The method according to Claim 1.

3. Determining the intersection distance between the first perpendicular point and the first intersection point includes: Determining the coordinates of the corner points of the second parking space and the cosine value of the angle of the second parking space based on the current parking space coordinates, wherein the corner points of the second parking space are the endpoints of the outbound parking frame line in the current diagonal parking space in the outbound direction of the current diagonal parking space; Determining the coordinates of the second foot point on the second perpendicular line based on the current parking space coordinates and the current vehicle coordinates, wherein the second perpendicular line is a line segment perpendicular to the outbound parking frame line of the current diagonal parking space passing through the center point of the vehicle axle of the current vehicle, and the second foot point is the intersection point of the second perpendicular line and the outbound parking frame line; Determining the second distance between the corner point of the second parking space and the second foot point based on the coordinates of the corner point of the second parking space and the coordinates of the second foot point on the outbound parking frame line; Determining the third distance between the center point of the vehicle axle and the second foot point based on the coordinates of the center point of the vehicle axle and the coordinates of the second foot point; According to the laws of plane geometry, determining the intersection distance between the first foot point and the first intersection point based on the second distance, the third distance, and the cosine value of the angle of the second parking space; The method according to claim 2.

4. Obtaining the first distance between the center point of the vehicle axle and the first intersection point includes According to the laws of plane geometry, determining the first distance between the center point of the vehicle axle and the first intersection point based on the third distance and the cosine value of the angle of the second parking space. The method according to claim 3.

5. Controlling the current vehicle to move by the outbound compensation distance and then exit from the current diagonal parking space includes Obtaining the inbound route of the current vehicle; Predicting whether the current vehicle enters the adjacent diagonal parking space in the outbound direction when exiting from the current diagonal parking space along the inbound route; When the current vehicle does not enter the adjacent diagonal parking space, controlling the current vehicle to move by the outbound compensation distance and then exit from the current diagonal parking space along the inbound route; When the current vehicle enters the adjacent diagonal parking space, determining the minimum lateral distance for exiting between the current vehicle and the adjacent diagonal parking space based on the outbound compensation distance, determining the planned outbound route of the current vehicle based on the minimum lateral distance and the outbound compensation distance, and exiting from the current diagonal parking space based on the planned outbound route. The method according to claim 1.

6. Determining the outbound planned path of the current vehicle based on the minimum lateral distance and the outbound compensation distance includes: Predicting the target position and orientation of the current vehicle when the current vehicle is parallel to the outbound parking frame line of the current diagonal parking space and the distance from the adjacent diagonal parking space satisfies the minimum lateral distance for outbound; Obtaining the initial position and orientation of the current vehicle after moving by the outbound compensation distance; Determining the outbound planned path of the current vehicle based on the initial position and orientation and the target position and orientation; and The method according to claim 5.

7. Determining the minimum lateral distance for outbound between the current vehicle and the adjacent diagonal parking space based on the outbound compensation distance includes: When the outbound compensation distance is less than or equal to the calibrated distance, determining the sum of the outbound compensation distance and the calibrated distance as the minimum lateral distance; When the outbound compensation distance is greater than the calibrated distance, determining the calibrated distance as the minimum lateral distance; and The method according to claim 5.

8. An outbound device for a diagonal parking space, which is applied to a current vehicle parked in a current diagonal parking space, and there is an obstacle vehicle parked in an adjacent diagonal parking space on the outbound direction side of the current diagonal parking space, A coordinate acquisition module for acquiring the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle; An assist line determination module for determining a compensation assist line of the current vehicle in the current diagonal parking space, wherein the compensation assist line is perpendicular to the center line in the vehicle length direction of the vehicle body of the current vehicle and passes through a corner point of a first parking space of the current diagonal parking space, and the corner point of the first parking space is an obtuse angle parking space corner point formed by the outbound parking frame line in the current diagonal parking space; A distance determination module for determining the interval distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the interval distance as the outbound compensation distance for the current vehicle to exit the current diagonal parking space without contacting the obstacle vehicle; An outbound control module for controlling the current vehicle to exit the current diagonal parking space after moving by the outbound compensation distance; and An outbound device for a diagonal parking space.

9. At least one processor; a memory communicatively connected to the at least one processor The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor such that the at least one processor can execute the method for exiting a diagonal parking space according to any one of claims 1 to 7 a vehicle **Claim 10** A computer-readable storage medium storing computer instructions for realizing the method for exiting a diagonal parking space according to any one of claims 1 to 7 when executed by a processor a computer-readable storage medium

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