Method, apparatus, vehicle, and storage medium for determining the approach angle of a diagonal parking space

Abstract

The present application discloses a method and apparatus for determining the path angle of a diagonal parking space, a vehicle, and a storage medium. The method includes obtaining vehicle environmental information, which is information regarding the escape from the diagonal parking space of the vehicle, among the surrounding environment of the vehicle; obtaining a first reference point and a second reference point based on the environmental information, where the connecting line between the first reference point and the second reference point is parallel to the road; and determining the path angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point. This method determines the first reference point and the second reference point based on the information of the surrounding environment of the vehicle, and determines the path angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point, thereby calculating the path angle of the host vehicle when exiting the diagonal parking space of the vehicle and enabling the final host vehicle posture after diagonal exit to be parallel to the actual road.

Description

Technical Field

[0001] This application claims the priority of a Chinese patent application filed with the China National Intellectual Property Administration on June 9, 2023, with the application number 202310688853.8, and all the contents of the application are incorporated herein by reference.

[0002] Embodiments of the present application relate to the field of autonomous driving technology, and in particular to a method, apparatus, vehicle, and storage medium for determining the path angle of a diagonal parking space.

Background Art

[0003] With the rapid development of electric vehicles, advanced driving assistance systems (ADAS) are becoming increasingly popular. Among them, automatic parking is one of the most representative functions, which can provide a quite convenient parking experience for drivers. However, many commercially available automatic parking products do not have the function of diagonal exiting or can only perform vertical exiting, so the final parked position does not match the actual scenario, which greatly affects the user experience.

Summary of the Invention

Problems to be Solved by the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for determining the path angle of a diagonal parking space to solve the problem that the diagonal exiting function cannot be realized in automatic parking in related technologies.

Means for Solving the Problems

[0005] According to one aspect of the present application, obtaining the environmental information of the vehicle, which is information regarding the escape from the diagonal parking space of the vehicle, among the surrounding environment of the vehicle; obtaining a first reference point and a second reference point based on the environmental information, wherein the connecting line between the first reference point and the second reference point is parallel to the road; Determining a path angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point, and Provide a diagonal parking space path angle determination method.

[0006] According to another aspect of the present application, An acquisition module for acquiring the environmental information of the vehicle, which is information regarding the escape of the vehicle from the diagonal parking space among the surrounding environment of the vehicle, A first determination module for obtaining a first reference point and a second reference point based on the environmental information, wherein a connection line between the first reference point and the second reference point is parallel to a road, A second determination module for determining a path angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point, and Provide a diagonal parking space path angle determination device.

[0007] According to another aspect of the present application, At least one radar, At least one camera, At least one processor, A memory communicatively connected to the at least one processor, and The at least one radar and the at least one camera are communicatively connected to the at least one processor and the memory, The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can execute the diagonal parking space path angle determination method described in any embodiment of the present application. Provide a vehicle.

[0008] According to another aspect of the present application, A computer instruction for realizing the diagonal parking space path angle determination method described in any embodiment of the present application is stored, which when executed by a processor. Provide a computer-readable storage medium.

Advantages of the Invention

[0009] In the diagonal parking space route angle determination method, apparatus, vehicle, and storage medium according to an embodiment of the present application, the method includes: obtaining, among the surrounding environment of the vehicle, the environmental information of the vehicle that is information related to the escape from the diagonal parking space of the vehicle; obtaining a first reference point and a second reference point based on the environmental information, and the connection line between the first reference point and the second reference point being parallel to the road; and determining, based on the coordinates of the first reference point and the second reference point, the route angle for the vehicle to exit the diagonal parking space. This method determines the first reference point and the second reference point based on the information of the surrounding environment of the vehicle, and determines the route angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point, thereby calculating the route angle of the host vehicle when exiting the diagonal parking space of the vehicle, and realizing that the final posture of the host vehicle after diagonal exit is parallel to the actual road, solving the problem that the diagonal exit function cannot be realized in automatic parking in the related art.

Brief Description of the Drawings

[0010] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly describes the drawings that need to be used in the description of the embodiments. The drawings in the following description are only some embodiments of the present application, and it is obvious to those skilled in the art that other drawings can be obtained based on these drawings without creative labor.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0011] For those skilled in the art to better understand the solution of the present application, hereinafter, with reference to 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. However, it is obvious that the described embodiments are only a part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor must belong to the protection scope of the present application. It should be understood that each step described in the method embodiment of the present application can be executed in a different order and / or executed in parallel. Also, the method embodiment can include additional steps and / or omit the execution of the indicated steps. The scope of the present application is not limited in this regard.

[0012] The term "comprising" and its variants used in this specification are open-ended inclusion that corresponds to "including but not limited to these". The term "based on" means "based at least in part on". The term "one embodiment" indicates "at least one embodiment", the term "another embodiment" indicates "at least one another embodiment", and the term "some embodiments" indicates "at least some embodiments". Definitions for other terms will be given in the following description.

[0013] In addition, terms such as "first", "second", etc. in the description, claims, and drawings of this application are for distinguishing similar objects and not for describing a specific order or priority. It should be understood that the data used in this way can be appropriately exchanged 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 "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to the steps or units specifically listed, and may include other steps or units not specifically listed or inherent to these processes, methods, products or devices.

[0014] It should be understood by those skilled in the art that the modifications of "one" and "a plurality" in this application are exemplary and not limiting, and unless otherwise clearly specified in the context, they should be understood as "one or a plurality".

[0015] The names of the messages or information transmitted and received between multiple devices in the embodiments of this application are only for the purpose of explanation and not for limiting the scope of these messages or information.

[0016] [Embodiment 1] FIG. 1 is a flow schematic diagram of a method for determining the approach angle of a diagonal parking space according to Embodiment 1 of this application. This method can be applied when the vehicle is controlled to park automatically, can be realized by software and / or hardware, and can be executed by a diagonal parking space approach angle determination device usually integrated in a vehicle. In this embodiment, the vehicle includes, but is not limited to, general transport vehicles, dedicated vehicles, and vehicles for special purposes.

[0017] As shown in FIG. 1, the method for determining the approach angle of a diagonal parking space according to Embodiment 1 of this application includes the following steps.

[0018] S110. Obtain the environmental information of the vehicle, which is information regarding the escape from the diagonal parking space among the surrounding environment of the vehicle.

[0019] Here, the vehicle may be a vehicle in a diagonal parking space. The diagonal parking space may be a parking space having an inclination angle mainly composed of a parallelogram-shaped parking space. The diagonal parking space may be a parking space with parking frame lines drawn, or may be a parking space without parking frame lines drawn. The environmental information may be information regarding the escape from the diagonal parking space of the vehicle among the surrounding environment of the vehicle, and based on the environmental information, it is possible to determine whether there are obstacles on both the left and right sides of the vehicle.

[0020] In this embodiment, in order for the vehicle to determine whether there are parking frame lines at the parking location of the vehicle and whether there are obstacles on both the left and right sides of the vehicle, before automatically exiting the diagonal parking space, first, the information of the surrounding environment of the vehicle can be obtained. Since it can only park by the automatic parking function, it can be understood that the driver has processed the obstacles in front of and behind the vehicle that may affect the exit from the diagonal parking space before activating the automatic parking function. When other obstacles are found during the automatic parking process, the vehicle can stop moving and notify the driver that there are obstacles. This will not be repeatedly described in this embodiment.

[0021] S120. Obtain a first reference point and a second reference point based on the environmental information, and the connecting line between the first reference point and the second reference point is parallel to the road.

[0022] Here, the first reference point and the second reference point may be reference points respectively distributed on the left and right sides of the vehicle, and the connecting line between the first reference point and the second reference point is parallel to the road. Depending on the environmental information, the first reference point and the second reference point are different. For example, the first reference point and the second reference point may be the vertices of obstacles on both sides of the vehicle, or may be the intersection points of the parking frame lines. The road may be a lane for the vehicle to escape from the diagonal parking space. FIG. 2 is a schematic diagram of the position where the road according to the embodiment of the present application is located. As shown in FIG. 2, the road is parallel to the short side of the diagonal parking space.

[0023] In this embodiment, the first reference point and the second reference point can be determined based on the environmental information. Exemplarily, when it is determined based on the environmental information that there are obstacles on both sides of the vehicle, the information of the obstacles is acquired, and further, the first reference point and the second reference point can be determined based on the information of the obstacles. When it is determined based on the environmental information that there are parking frame lines at the parking location of the vehicle and / or on both sides of the vehicle, the first reference point and the second reference point can be determined based on the intersection points of the parking frame lines.

[0024] S130. Based on the coordinates of the first reference point and the second reference point, determine the path angle for the vehicle to exit the diagonal parking space.

[0025] Here, the coordinates may be the coordinates of the first reference point and the second reference point in the coordinate system. The path angle may be the angle at which the vehicle exits the diagonal parking space, and is the angle formed by the connecting line between the first reference point and the second reference point and the vertical axis. The coordinate system in this embodiment includes a horizontal axis and a vertical axis, and the origin of the coordinate system may be provided on the vehicle body, for example, may be provided in the middle of the vehicle, or may be provided at other positions of the vehicle body.

[0026] In this embodiment, after determining the first reference point and the second reference point, the coordinates of the first reference point and the second reference point are obtained, and based on the coordinates of the first reference point and the second reference point, the path angle at which the vehicle exits the diagonal parking space can be calculated. Exemplarily, FIG. 3 is a schematic diagram of the coordinate system according to the embodiment of the present application. As shown in FIG. 3, in the coordinate system, the origin is provided behind the vehicle body, the x-axis passes through both left and right sides of the vehicle body, the y-axis passes through the front and rear of the vehicle body, point A' is the first reference point, point B is the second reference point, and the path angle is the angle formed by line segment A'B and the y-axis.

[0027] In the method for determining the path angle of a diagonal parking space according to Embodiment 1 of the present application, among the surrounding environment of the vehicle, obtaining the environmental information of the vehicle, which is information related to the escape of the vehicle from the diagonal parking space; obtaining a first reference point and a second reference point based on the environmental information, such that the connecting line between the first reference point and the second reference point is parallel to the road; and determining the path angle at which the vehicle exits the diagonal parking space based on the coordinates of the first reference point and the second reference point. This method determines the first reference point and the second reference point based on the information of the surrounding environment of the vehicle, and determines the path angle at which the vehicle exits the diagonal parking space based on the coordinates of the first reference point and the second reference point, thereby calculating the path angle of the host vehicle when the vehicle exits the diagonal parking space, and realizing that the final posture of the host vehicle after diagonal exit is parallel to the actual road, solving the problem that the diagonal exit function cannot be realized in automatic parking in the related art.

[0028] Based on the above embodiments, modified embodiments of the above embodiments are proposed. For the sake of simplicity of description, only the differences from the above embodiments are described in the modified embodiments.

[0029] In one embodiment, the environmental information includes image information. Accordingly, obtaining the first reference point and the second reference point based on the environmental information includes: obtaining the image information of the surrounding environment of the vehicle by a camera; When it is recognized that there are parking frame lines on both sides of the parking location of the vehicle and / or the vehicle based on the image information, the two intersections of the parking frame lines closest to the vehicle head in the image information and the coordinates of the intersections of the parking frame lines are recognized based on a vision algorithm, including using the two intersections of the parking frame lines as a first reference point and a second reference point, respectively.

[0030] Here, the image information may be an image around the vehicle and can be obtained by a camera on the vehicle. The parking frame line consists of four corner points and four lines, which are the entrance line, the dividing lines on both the left and right sides, and the boundary line at the bottom. The vision algorithm is a mathematical model that attempts to assist a computer in understanding images. The vision algorithm used in this embodiment may be a BEV (Bird’s Eye View, BEV) vision algorithm. The intersection of the parking frame lines may be the intersection of the parking frame lines between adjacent parking spaces.

[0031] In this embodiment, the image information of the surrounding environment of the vehicle can be obtained by a camera, and it can be determined whether there are parking frame lines on both sides of the parking location of the vehicle and / or the vehicle based on the image information. When there are parking frame lines, two intersections of the parking frame lines closest to the left and right sides of the vehicle head are recognized by the BEV vision algorithm to obtain the coordinates of the two intersections of the parking frame lines, and the two intersections of the parking frame lines can be used as a first reference point and a second reference point, respectively. When there are parking frame lines but the intersections of the parking frame lines cannot be recognized, the first reference point and the second reference point can also be determined by recognizing the obstacles on both sides of the vehicle. Regarding the parking position of the vehicle, it can be understood that when the vehicle tail is facing the entrance line of the diagonal parking space, two intersections of the parking frame lines closest to the left and right sides of the vehicle tail are recognized.

[0032] In this embodiment, when there are parking frame lines at the parking location of the vehicle, the first reference point and the second reference point can be directly determined by the intersections of the parking frame lines.

[0033] Exemplarily, FIG. 4 is a schematic diagram of a diagonal parking space according to an embodiment of the present application. As shown in FIG. 4, parking frame lines exist both at the parking location of the vehicle and on both the left and right sides. Here, B and C are the two intersections of the parking frame lines closest to the vehicle's front end, and since the line segment BC is not parallel to the road, they can be used as the first reference point and the second reference point, respectively.

[0034] In one embodiment, calculating the departure path angle of the vehicle based on the coordinates of the first reference point and the second reference point includes calculating, based on the inverse trigonometric function, the angle formed between the line segment composed of the first reference point and the second reference point and the vertical axis whose direction is the same as the moving direction of the vehicle and setting the formed angle as the departure path angle of the vehicle.

[0035] Here, the inverse trigonometric function is a basic elementary function. The inverse trigonometric function is a general term for functions such as arcsine arcsinx, arccosine arccosx, arctangent arctanx, arccotangent arccotx, arcsecant arcsecx, and arccosecant arccscx, and each represents the angle whose sine, cosine, tangent, cotangent, secant, and cosecant is x. The moving direction may be the moving direction of the vehicle.

[0036] In this embodiment, based on the inverse trigonometric function, the angle formed between the line segment composed of the first reference point and the second reference point and the vertical axis can be calculated, and this formed angle can be used as the departure path angle θ of the vehicle. Exemplarily, the inverse trigonometric function used in this embodiment may be the arctangent. If the coordinates of the first reference point are (x1, y1) and the coordinates of the second reference point are (x2, y2), the departure path angle of the vehicle is

Equation

[0037] This embodiment can accurately calculate the path angle when the vehicle departs by using the inverse trigonometric function, and can make the final posture of the vehicle when it diagonally departs parallel to the actual road.

[0038] In one embodiment, before obtaining the environmental information of the vehicle, determine whether there is automatic parking information of the vehicle. When there is no such information, execute the operation of obtaining the environmental information of the vehicle. Otherwise (when there is such information), determine the angle of the parking space when storing the vehicle based on the automatic parking information of the vehicle, and further include determining the path angle for the vehicle to leave the warehouse based on the angle of the parking space.

[0039] Here, the automatic parking information may be the automatic parking information stored in the vehicle. The angle of the parking space may be the angle when storing the vehicle.

[0040] In this embodiment, when there is information in the automatic parking information about the driver entering a diagonal parking space, if the driver leaves the diagonal parking space and uses the Automatic Parking Assist (APA) function, the driver can be prompted to determine the path angle for this departure based on the angle of the parking space during the previous automatic diagonal storage. In this embodiment, the method of determining the path angle based on the angle of the parking space is not limited.

[0041] This embodiment can realize that when the vehicle stores automatic parking information, by directly determining the path angle for the vehicle to leave the warehouse based on the automatic parking information, the final self-vehicle posture after the vehicle diagonally leaves the warehouse is parallel to the actual road.

[0042] In one embodiment, the method of obtaining the path angle may further include determining the angle of the parking space when storing the vehicle based on the automatic parking information of the vehicle, and determining the path angle for the vehicle to leave the warehouse based on the angle of the parking space.

[0043] In this embodiment, the method of obtaining the path angle may be determined based on the automatic parking information stored in the vehicle.

[0044] [Embodiment 2] FIG. 5 is a flowchart of a method for determining the path angle of a diagonal parking space according to Embodiment 2 of the present application. Embodiment 2 is an optimization based on each of the above embodiments. In this embodiment, the environmental information may include obstacle information. For the content not described in detail in this embodiment, refer to Embodiment 1.

[0045] As shown in FIG. 5, the method for determining the path angle of a diagonal parking space according to Embodiment 2 includes the following steps.

[0046] S210. Obtain the vehicle's environmental information, which is information related to the escape from the diagonal parking space of the vehicle, among the vehicle's surrounding environment.

[0047] S220. Scan the obstacles on both sides of the vehicle with a radar to obtain a set of point coordinates of the obstacles.

[0048] Here, the radar may be an electronic device that explores a target with electromagnetic waves and can be mounted on a vehicle. The radar may be a lidar, an ultrasonic radar, a microwave, etc., for example, it may be a long-distance probe. The obstacle may be another vehicle parked on both sides of the vehicle. The set of point coordinates may be a set of coordinates of points on the obstacle.

[0049] In this embodiment, before the vehicle starts to leave the warehouse, the initial position is to park within the diagonal parking space. When the vehicle starts to leave the warehouse, the first path is to go straight. Therefore, immediately after the vehicle starts to leave the warehouse, points on the obstacles existing on both the left and right sides of the vehicle are scanned by the radar at regular intervals (for example, every 5 cm), and the coordinates of the scanned points can be determined. For the points on the obstacle, the abscissa can be determined based on the distance from the vehicle scanned by the radar to the obstacle, and the ordinate can be determined based on the distance the vehicle has traveled forward.

[0050] S230. Determine a first reference point and a second reference point based on the two points closest to the road among the set of point coordinates.

[0051] In this embodiment, in the obtained set of point coordinates, based on the two points closest to the road among the set of point coordinates, a first reference point and a second reference point can be determined. Exemplarily, as shown in FIG. 3, the points on both sides of the vehicle closest to the road that the vehicle last scanned are A and B, respectively.

[0052] In one embodiment, determining the first reference point and the second reference point based on the two points closest to the road among the set of point coordinates includes: obtaining the two points closest to the road among the set of point coordinates; processing the point that does not exist on the road edge among the two points to obtain a first reference point; and using the point that exists on the road edge among the two points as the second reference point.

[0053] In this embodiment, as can be seen from FIG. 3, after obtaining A and B, which are the two points closest to the road among the set of point coordinates, since point B exists on the road edge, it can be directly used as the second reference point. However, in this case, since the connecting line between A and B is not yet parallel to the road, it is necessary to process point A to obtain the first reference point.

[0054] Furthermore, processing the point that does not exist on the road edge among the two points to obtain a first reference point includes: translating the abscissa of the point that does not exist on the road edge among the two points in the direction away from the vehicle by a predetermined distance; and using the translated point as the first reference point.

[0055] Here, the predetermined distance may be the width of the obstacle, and the predetermined distance can determine the distance that the point that does not exist on the road edge needs to translate, and can be set according to the actual situation.

[0056] In this embodiment, for points that do not exist on the road edge, the abscissa thereof can be translated by a predetermined distance in the direction away from the vehicle, and the point after translation can be used as the first reference point. Exemplarily, as can be seen from FIG. 3, since the connecting line between A' and B is parallel to the road, the coordinates of point A' can be determined based on the coordinates of point A. When the obstacle is a vehicle, the width of the vehicle can be set to 1.9 meters (it may also be set to other values). In this way, the predetermined distance is 1.9 meters. In this case, with respect to the positive direction of the x-axis, since point A' exists on the left side of point A, if the coordinates of point A are (x, y), the coordinates of point A' are (x - 1.9, y). That is, point A' is the first reference point, and point B is the second reference point.

[0057] S240. Determine the path angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point.

[0058] The method for determining the path angle of the diagonal parking space according to Embodiment 2 of the present invention includes obtaining the environmental information of the vehicle, which is information related to the escape of the vehicle from the diagonal parking space among the surrounding environment of the vehicle, scanning obstacles on both sides of the vehicle by a radar to obtain a set of point coordinates of the obstacles, determining a first reference point and a second reference point based on the two points closest to the road among the set of point coordinates, and determining the path angle for the vehicle to exit the diagonal parking space based on the coordinates of the first reference point and the second reference point. This method scans obstacles on both sides of the vehicle by a radar to obtain a set of point coordinates of the obstacles, and determines a first reference point and a second reference point based on the two points closest to the road among the set of point coordinates, so that even when there is no parking frame line in the diagonal parking space, the path angle of the vehicle when exiting the diagonal parking space can be calculated, and it can be realized that the final posture of the vehicle after diagonal exit is parallel to the actual road, solving the problem that the diagonal exit function cannot be realized in automatic parking in the related art.

[0059] [Embodiment 3] FIG. 6 is a schematic structural diagram of a diagonal parking space path angle determination device according to Embodiment 3 of the present application, which can be realized by software and / or hardware, and the device integrated in a normal vehicle can be applied when the vehicle is controlled to park automatically.

[0060] As shown in FIG. 6, the device includes an acquisition module 310 for acquiring the environmental information of the vehicle, which is information regarding the escape from the diagonal parking space of the vehicle, among the surrounding environment of the vehicle; a first determination module 320 for obtaining a first reference point and a second reference point based on the environmental information, wherein the first determination module 320 is such that the connecting line between the first reference point and the second reference point is parallel to the road; and a second determination module 330 for determining the path angle for the vehicle to leave the diagonal parking space based on the coordinates of the first reference point and the second reference point.

[0061] Embodiment 3 provides a diagonal parking space path angle determination device including an acquisition module for acquiring the environmental information of the vehicle, which is information regarding the escape from the diagonal parking space of the vehicle, among the surrounding environment of the vehicle; a first determination module for obtaining a first reference point and a second reference point based on the environmental information, wherein the first determination module is such that the connecting line between the first reference point and the second reference point is parallel to the road; and a second determination module for determining the path angle for the vehicle to leave the diagonal parking space based on the coordinates of the first reference point and the second reference point. By determining the first reference point and the second reference point based on the information of the surrounding environment of the vehicle, and determining the path angle for the vehicle to leave the diagonal parking space based on the coordinates of the first reference point and the second reference point, the path angle of the host vehicle when leaving the diagonal parking space of the vehicle can be calculated, and it can be realized that the final posture of the host vehicle after diagonal departure is parallel to the actual road, thereby solving the problem that the diagonal departure function cannot be realized in automatic parking in the related art.

[0062] Furthermore, the environmental information includes obstacle information, and correspondingly, the first determination module 320 A scanning unit that scans for obstacles on both sides of the vehicle using radar and obtains a set of point coordinates of the obstacles; A determination unit for determining a first reference point and a second reference point based on the two points closest to the road among the set of point coordinates.

[0063] Furthermore, the determination unit Obtains the two points closest to the road among the set of point coordinates; Processes the point among the two points that does not exist on the road edge to obtain a first reference point; Uses the point among the two points that exists on the road edge as the second reference point.

[0064] Furthermore, processing the point among the two points that does not exist on the road edge to obtain a first reference point includes Translating the abscissa of the point among the two points that does not exist on the road edge by a predetermined distance in the direction away from the vehicle; Using the translated point as the first reference point.

[0065] Furthermore, the environmental information includes image information. Accordingly, the first determination module 320 Obtains image information of the surrounding environment of the vehicle using a camera; When it is recognized based on the image information that there is a parking location of the vehicle and / or parking frame lines on both sides of the vehicle, recognizes the two intersections of the parking frame lines closest to the vehicle's head in the image information and the coordinates of the intersections of the parking frame lines based on a vision algorithm; Uses the two intersections of the parking frame lines as the first reference point and the second reference point, respectively.

[0066] Furthermore, calculating the departure path angle of the vehicle based on the coordinates of the first reference point and the second reference point includes Calculating the angle formed by the line segment composed of the first reference point and the second reference point and the vertical axis whose direction of location is the same as the moving direction of the vehicle based on an inverse trigonometric function; including setting the formed angle as the path angle for the vehicle to leave the warehouse.

[0067] Furthermore, before acquiring the environmental information of the vehicle, determine whether there is automatic parking information of the vehicle. When there is no such information, execute the operation of acquiring the environmental information of the vehicle. When there is such information, determine the angle of the parking space when parking the vehicle based on the automatic parking information of the vehicle; further including determining the path angle for the vehicle to leave the warehouse based on the angle of the parking space.

[0068] The above-mentioned diagonal parking space path angle determination device can execute the diagonal parking space path angle determination method according to any embodiment of the present application, and has a functional module and beneficial effects corresponding to the execution of the method.

[0069] [Embodiment 4] FIG. 7 shows a schematic structural diagram of a vehicle that can be used to implement the embodiment of the present application. The vehicle represents a wheeled vehicle driven or towed by a power device, such as a general transport vehicle, a dedicated vehicle, a vehicle for special purposes, and other similar vehicles, for carrying people traveling on the road, transporting goods, or performing specific operations of construction. As shown in FIG. 7, this vehicle includes at least one radar 41, at least one camera 42, at least one processor 43, a memory 44 communicatively connected to at least one processor, an input device 45, and an output device 46. In FIG. 7, one radar 41, one camera 42, and one processor 43 are taken as examples. The radar 41, camera 42, processor 43, memory 44, input device 45, and output device 46 in the vehicle may be connected by a bus or other means, but in FIG. 7, it is taken as an example that they are connected by a bus.

[0070] Memory 44 may be used as a computer-readable storage medium for software programs, computer-executable programs, and modules, such as program instructions and modules corresponding to the method for determining the path angle of a diagonal parking space in the embodiments of the present application. The processor 43 executes the software programs, instructions, and modules stored in the memory 44 to execute various functional applications and data processing of the vehicle, that is, to implement the above method for determining the path angle of a diagonal parking space.

[0071] Memory 44 may mainly include a program storage area capable of storing an operating system and application programs required for at least one function, and a data storage area capable of storing data created by using the terminal, etc. Further, memory 44 may include a high-speed random access memory, and may include, for example, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid storage devices. In some examples, memory 44 may further include a memory provided remotely from processor 43, and this remote memory may be connected to the vehicle via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0072] The input device 45 may be used to receive the input numerical or character information and generate the input of key signals related to the user settings and function control of the vehicle. The output device 46 may include a display device such as a display.

[0073] The various embodiments of the systems and techniques described above in this specification 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 chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may involve a special-purpose or general-purpose programmable processor that receives 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. It may also include implementing one or more computer programs that can be executed and / or interpreted in a programmable system including at least one such programmable processor.

[0074] A computer program for implementing the method 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 special-purpose computer, or other programmable data processing device, such that 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 machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or entirely on a remote machine or server.

[0075] In the specification of the present application, a computer-readable storage medium may be a tangible medium that can contain or store a computer program used in an instruction execution system, apparatus, or device, or a computer program used in combination with an instruction execution system, apparatus, or device. The computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. Further specific examples of the machine-readable storage medium include electrical connections by one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0076] To provide interaction with a user, the systems and techniques described herein can be implemented in a vehicle having 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), and the user can provide input to the vehicle via the keyboard and the pointing device. Other types of devices may be used to provide interaction with the user, and 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 the input from the user can be received in any form (including voice input, speech input, or tactile input).

[0077] The systems and techniques described herein can be implemented in a computing system that includes background components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (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 components, middleware components, or front-end components. The components of the system can be interconnected by digital data communication (e.g., a communication network) in any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0078] 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. The client-server relationship is generated by computer programs executed on corresponding computers that have a client-server relationship with each other. The server, in order to solve the drawbacks of high management difficulty and weak business scalability existing in traditional physical hosts and VPS services, is also called a cloud computing server or a cloud host, and may be a cloud server that is a host product in the cloud computing service system.

[0079] It should be understood that the steps can be rearranged, added, or deleted using the various forms of processes described above. For example, each step described in this application may be executed in parallel, sequentially, or in a different order, and is not limited in this specification as long as the expected results of the technical solution of this application can be achieved.

Claims

1. Obtaining environmental information of the vehicle, which is information regarding escape from a diagonal parking space of the vehicle, among the surrounding environment of the vehicle; Obtaining a first reference point and a second reference point based on the environmental information, wherein a connecting line between the first reference point and the second reference point is parallel to a road; Determining an approach angle for the vehicle to exit the diagonal parking space based on coordinates of the first reference point and the second reference point, including: A method for determining an approach angle of a diagonal parking space.

2. The environmental information includes obstacle information. Accordingly, obtaining the first reference point and the second reference point based on the environmental information includes: Scanning obstacles on both sides of the vehicle by a radar to obtain a set of point coordinates of the obstacles; Determining the first reference point and the second reference point based on two points closest to the road among the set of point coordinates, including: The method according to claim 1.

3. Determining the first reference point and the second reference point based on two points closest to the road among the set of point coordinates includes: Obtaining two points closest to the road among the set of point coordinates; Processing a point that does not exist on a road edge among the two points to obtain the first reference point; Setting a point that exists on the road edge among the two points as the second reference point, including: The method according to claim 2.

4. Processing a point that does not exist on a road edge among the two points to obtain the first reference point includes: Translating the abscissa of a point that does not exist on the road edge among the two points in a direction away from the vehicle by a predetermined distance; Setting the translated point as the first reference point, including: The method according to claim 3.

5. The environmental information includes image information. Accordingly, obtaining the first reference point and the second reference point based on the environmental information includes: Obtaining image information of the surrounding environment of the vehicle by a camera; When it is recognized based on the image information that there are parking frame lines at the parking location of the vehicle and / or on both sides of the vehicle, recognizing two intersections of the parking frame lines closest to the vehicle head in the image information and coordinates of the intersections of the parking frame lines based on a vision algorithm; Setting the two intersections of the parking frame lines as the first reference point and the second reference point respectively, including: The method according to claim 1.

6. Calculating the departure path angle of the vehicle based on the coordinates of the first reference point and the second reference point includes: Calculating, based on an inverse trigonometric function, an angle formed between a line segment formed by the first reference point and the second reference point and a vertical axis whose direction of location is the same as the moving direction of the vehicle; Setting the formed angle as the departure path angle of the vehicle. The method according to claim 1.

7. Before acquiring the environmental information of the vehicle, Determining whether there is automatic parking information of the vehicle, and when it does not exist, executing an operation of acquiring the environmental information of the vehicle; when it exists, determining an angle of a parking space when parking the vehicle based on the automatic parking information of the vehicle; Further including determining the departure path angle of the vehicle based on the angle of the parking space. The method according to claim 1.

8. An acquisition module for acquiring environmental information of the vehicle, which is information regarding escape from a diagonal parking space of the vehicle among the surrounding environment of the vehicle; A first determination module for obtaining a first reference point and a second reference point based on the environmental information, wherein a connecting line between the first reference point and the second reference point is parallel to a road; A second determination module for determining a path angle for the vehicle to depart from the diagonal parking space based on the coordinates of the first reference point and the second reference point. Diagonal parking space path angle determination device.

9. At least one radar; At least one camera; At least one processor; A memory communicatively connected to the at least one processor, The at least one radar and the at least one camera are communicatively connected to the at least one processor and the memory, The memory stores a computer program executable by the at least one processor. When the computer program is executed by the at least one processor, the at least one processor can execute the diagonal parking space path angle determination method according to any one of claims 1 to 7. Vehicle.

10. A computer-readable storage medium storing computer instructions that, when executed by a processor, implement the diagonal parking space path angle determination method according to any one of claims 1 to 7. Computer-readable storage medium.

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