Intelligent parking methods, devices, equipment, and media

Abstract

Embodiments of this specification provide an intelligent parking method. The intelligent parking method includes the steps of: acquiring spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present in the target parking space, wherein the obstacle information includes location information of the obstacles; calculating the remaining space of the target parking space based on the obstacle information and the parking space information; determining the actual parking position of the vehicle based on the remaining space if the remaining space satisfies the vehicle parking conditions; and planning the vehicle's route based on the actual parking position and parking the vehicle based on the planned route.

Description

Cross-reference to Related Applications

[0001] The present invention claims the priority of a Chinese patent application filed with the Chinese Patent Office on August 11, 2023, with the application number 202311014264.8, and the entire content thereof is incorporated herein by reference.

Technical Field

[0002] The embodiments of this specification relate to the field of autonomous driving technology (but not limited thereto), and in particular, to intelligent parking methods, devices, apparatuses, and storage media (but not limited thereto).

Background Art

[0003] }In modern cities, parking difficulties have become a serious problem for many people. Due to congested lanes, limited parking spaces, narrow parking spaces, etc., parking has become increasingly difficult for drivers. Especially for novice drivers, parking is a difficult task that requires a lot of time and effort. With the progress of science and technology, intelligent parking is contributing to the solution of these problems.

[0004] Intelligent parking is an automated parking assistance system that enables a vehicle to perform parking operations autonomously through advanced sensing, computing, and control technologies. In the process of intelligent parking, the vehicle first uses devices such as sensors and cameras to accurately detect the surrounding environment and obstacles, and selects an appropriate parking space. Then, the vehicle automatically controls the steering, accelerator, and brakes to complete the parking operation precisely without the need for driver intervention.

[0005] The emergence of intelligent parking not only greatly saves the time and effort of drivers, but also significantly improves the user experience by reducing parking accidents and scratches on the vehicle body caused by human operation.

Summary of the Invention

[0006] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0007] According to a first aspect of the embodiments of this specification, an intelligent parking method is provided, which means A step of acquiring spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present within the target parking space, and the obstacle information includes location information of the obstacles. A step of calculating the remaining space of the target parking space based on the aforementioned obstacle information and parking space information, If the remaining space satisfies the vehicle parking conditions, the step of determining the actual parking position of the vehicle based on the remaining space, The process includes the steps of planning a route for the vehicle based on the actual parking location and parking the vehicle based on the planned route.

[0008] According to a second embodiment of the present invention, an intelligent parking device is provided, the device is An acquisition module configured to acquire spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present within the target parking space, and the obstacle information includes location information of the obstacles, and the acquisition module A calculation module configured to calculate the remaining space of the target parking space based on the aforementioned obstacle information and parking space information, A determination module configured to determine the actual parking position of the vehicle based on the remaining space if the remaining space satisfies the vehicle parking conditions, The system includes a planning module configured to plan a route for the vehicle based on the actual parking location and to park the vehicle based on the planned route.

[0009] According to a third aspect of the embodiments of this specification, an electronic device is provided, the electronic device comprising a communication interface, a processor, memory, and a bus, wherein the communication interface, the processor, and the memory are interconnected via the bus. The memory is configured to store machine-readable instructions, and the processor is configured to execute the above method by calling and executing the machine-readable instructions.

[0010] According to a fourth aspect of the embodiments of this specification, a machine-readable storage medium is provided which stores machine-readable instructions, and the above method is performed when the machine-readable instructions are called and executed by a processor.

[0011] The technical proposals according to the embodiments of this specification may include the following beneficial effects.

[0012] According to the proposed technology described above, if an obstacle exists within the target parking space, the remaining space within the target parking space is calculated based on obstacle information and parking space information. Furthermore, the available space for parking within that remaining space is determined to obtain the actual parking position. Subsequently, a route plan is performed based on the actual parking position of the vehicle, and the vehicle is parked. In the above process, on the one hand, by considering the impact of obstacles in advance before route planning, the efficiency of parking can be improved, and the waste of time and computational resources due to route replanning can be avoided. On the other hand, by calculating the remaining space based on obstacle information and completing the vehicle's route plan by making maximum use of the remaining space, parking can be achieved with the impact of obstacles reduced as much as possible. In addition, since the entire parking process does not require human intervention and is performed automatically by the vehicle, the user experience is improved and parking safety is ensured. Other embodiments will become clear when you read and understand the drawings and detailed descriptions. [Brief explanation of the drawing]

[0013] [Figure 1]This is a schematic diagram illustrating an intelligent parking scenario according to one exemplary embodiment of this specification. [Figure 2] This is a schematic diagram illustrating the intelligent parking decision logic according to one exemplary embodiment of this specification. [Figure 3] This is a flowchart of an intelligent parking method according to one exemplary embodiment of this specification. [Figure 4] This is a schematic diagram illustrating an intelligent parking scenario according to one exemplary embodiment of this specification. [Figure 5A] This is a schematic diagram illustrating an intelligent parking scenario according to one exemplary embodiment of this specification. [Figure 5B] This is a schematic diagram illustrating an intelligent parking scenario according to one exemplary embodiment of this specification. [Figure 6] This is a schematic diagram showing the configuration of an electronic device comprising an intelligent parking system according to one exemplary embodiment of this specification. [Figure 7] This is a block diagram of an intelligent parking system according to one exemplary embodiment of this specification. [Modes for carrying out the invention]

[0014] Illustrative embodiments of this specification are described in detail below. These examples are shown in the accompanying drawings. Where the following description relates to the accompanying drawings, unless otherwise noted, the same numbers in different drawings represent the same or similar elements. The embodiments described below are not representative of all embodiments that correspond to one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods that correspond to some aspects of one or more embodiments of this specification that are detailed in the accompanying claims.

[0015] In other embodiments, the steps of the corresponding method are not necessarily executed in the order shown and described in this specification. In some other embodiments, the number of steps included in the method may be more or less than those described in this specification. Further, a single step described in this specification may be divided and described as multiple steps in other embodiments, and multiple steps described in this specification may be integrated and described as a single step in other embodiments.

[0016] Please refer to FIG. 1. FIG. 1 is a schematic diagram showing an intelligent parking scenario according to an exemplary embodiment of this specification. As shown in FIG. 1, the area where the parking space exists is composed of the area including the boundary line of the parking space.

[0017] Currently, when performing intelligent parking, usually, a parking space without obstacles is selected. However, if there are obstacles in the parking space, usually, automatic parking cannot be completed, and it is necessary to wait for the obstacles to move, or the driver manually removes the obstacles, or the driver himself / herself manually completes the parking.

[0018] Therefore, the presence of obstacles in the parking space causes great inconvenience to intelligent parking, leads to an excessive extension of the parking time, and impairs the driver's experience. And the larger the space occupied by the obstacles, the greater the burden on the driver.

[0019] In view of such a situation, this specification provides a technical solution that acquires obstacle information in advance at the parking start stage, determines the feasibility of vehicle parking and the viability of route planning based on the remaining space, and then completes the vehicle parking based on the planned route.

[0020] In specific implementation, the spatial information of the target parking space may be acquired.

[0021] In some embodiments, an image acquisition device and / or an on-board radar device mounted on the vehicle may be used to acquire parking space information of the target parking space and obstacle information (e.g., location information of obstacles) corresponding to obstacles present within the target parking space.

[0022] Based on the aforementioned obstacle information and parking space information, the remaining space of the target parking space may be calculated.

[0023] In some embodiments, the remaining space of the target parking space may be calculated by determining the space occupied by the obstacle based on the obstacle information and the original space of the parking space based on the parking space information.

[0024] If the remaining space satisfies the vehicle parking requirements, the actual parking position of the vehicle may be determined based on the remaining space.

[0025] For example, a conditional judgment may be made regarding the calculated remaining space to determine whether or not it is possible to park a vehicle in that space. If it is possible, it may be determined that the remaining space satisfies the vehicle parking conditions, and the actual parking position of the vehicle may be determined based on the remaining space.

[0026] A route plan for the vehicle may be created based on the actual parking location, and parking may be completed based on the planned route.

[0027] In some embodiments, the actual orientation of the vehicle when it parks in the actual parking position is determined based on the actual parking position, and the vehicle's route plan is performed based on the vehicle's current orientation and the actual orientation.

[0028] According to the proposed technology described above, if an obstacle exists within the target parking space, the remaining space within the target parking space is calculated based on obstacle information and parking space information. Furthermore, the available space for parking within that remaining space is determined to obtain the actual parking position. Subsequently, a route plan is performed based on the actual parking position of the vehicle, and the vehicle is parked. In the above process, on the one hand, by considering the impact of obstacles in advance before route planning, the efficiency of parking can be improved, and the waste of time and computational resources due to route replanning can be avoided. On the other hand, by calculating the remaining space based on obstacle information and completing the vehicle's route plan by making maximum use of the remaining space within the target parking space, parking can be achieved with the impact of obstacles reduced as much as possible. In addition, since the entire parking process does not require human intervention and is performed automatically by the vehicle, the user experience is improved, and parking safety is ensured.

[0029] The intelligent parking method described herein will be explained in detail below with reference to the drawings.

[0030] Please refer to Figure 2. Figure 2 is a schematic diagram illustrating the decision logic of intelligent parking according to one exemplary embodiment of this specification. As shown in Figure 2, intelligent parking can be classified into the following four cases in this specification.

[0031] In the first case, there are no obstacles in the parking space, and the vehicle can perform center parking. In other words, because there are no obstacles in the target parking space, parking can be completed using the original space of the target parking space, and considering standardized parking, the vehicle is usually parked in the center of the target parking space, so this can be called center parking.

[0032] In the second case, although there is an obstacle in the parking space, the presence of the obstacle does not affect the parking of the vehicle, and the vehicle can perform off-center parking. In other words, because the obstacle does not have a significant impact on parking, the vehicle can be parked using the remaining space in the target parking space, and compared to the first case above, the parking position is off-center, so it can be called off-center parking.

[0033] In the third case, an obstacle exists within the parking space, and the presence of this obstacle affects the vehicle's parking. In this case, the decision may be based on the tendency of the obstacle's movement. If the obstacle is stationary, the vehicle may abandon parking and choose another parking space.

[0034] In the fourth case, if the obstacle tends to move away from the third case described above, the vehicle may wait until the target parking space has enough remaining space to park the vehicle before parking it.

[0035] According to the proposed technology described herein, all four of the above cases can be addressed, eliminating the need for human intervention throughout the entire parking process and achieving time savings and increased efficiency.

[0036] Please refer to Figure 3. Figure 3 is a flowchart of an intelligent parking method according to one exemplary embodiment of this specification. As shown in Figure 3, the method comprises steps 301 to 304.

[0037] In step 301, spatial information of the target parking space is acquired. Here, the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present within the target parking space, and the obstacle information includes location information of the obstacles.

[0038] In step 302, the remaining space of the target parking space is calculated based on the obstacle information and parking space information.

[0039] In step 303, if the remaining space satisfies the vehicle parking conditions, the actual parking position of the vehicle is determined based on the remaining space.

[0040] In step 304, a route plan for the vehicle is created based on the actual parking location, and the vehicle is parked according to the planned route.

[0041] The above-mentioned obstacles refer to objects or plants and animals that interfere with vehicle parking.

[0042] For example, an obstacle may be a fixed object such as a wall, tree, or rock; a movable object such as materials, cargo, or electric vehicle; or a living organism. This specification is not limited to these.

[0043] In this embodiment, spatial information of the target parking space may be acquired.

[0044] For example, the spatial information may include parking space information of the target parking space (e.g., dimensions, shape, and location of the target parking space). Furthermore, the spatial information may further include obstacle information corresponding to obstacles present within the target parking space, and the obstacle information may include location information of the obstacles (e.g., relative position of the obstacles to the parking space, size, and shape of the obstacles).

[0045] In one embodiment, when step 301 is performed, spatial information within a predetermined range within the target parking space and outside the boundary line of the target parking space may be acquired.

[0046] For example, as shown in Figure 1, if part of an obstacle is located within a parking space, in order to obtain more comprehensive obstacle information and improve the accuracy of obstacle detection, it is possible to obtain spatial information not only within the target parking space but also within a predetermined range outside the boundary line, based on the boundary line of the target parking space.

[0047] In one embodiment, when step 301 is performed, the target parking space and obstacles present within the target parking space may be identified based on an image acquisition device and / or an on-board radar device mounted on the vehicle, and parking space information of the target parking space and obstacle information corresponding to obstacles present within the target parking space may be acquired.

[0048] For example, the vehicle may be equipped with an image acquisition device and / or an on-board radar device, and may also include other detection hardware for identifying a target parking space and obstacles present within the target parking space. Then, information about the identified target parking space is acquired, and information about the identified obstacles is acquired.

[0049] In this embodiment, the remaining space of the target parking space may be calculated based on the obstacle information and parking space information.

[0050] For example, the current remaining space of the target parking space may be calculated by determining the space occupied by the obstacle based on the obstacle information, and further determining the original space of the parking space if the obstacle were not present based on the parking space information.

[0051] In one embodiment, the obstacle information further includes state information of the obstacle, the state of the obstacle includes a stationary state and a moving state, and the state information includes the direction of motion and the speed of motion.

[0052] When executing step 302, different calculation logic for the remaining space may be executed depending on the different states of the obstacle. Specifically, if the obstacle is stationary, the remaining space of the target parking space is calculated based on the position information of the obstacle and the parking space information. If the obstacle is in motion, the remaining space of the target parking space is dynamically calculated based on the state information, the position information of the obstacle, and the parking space information.

[0053] In one example, if the obstacle is stationary, it could correspond to either Case 2 or Case 3 in Figure 2 mentioned above. In this case, it is necessary to calculate the remaining space of the target parking space based on the location information of the obstacle and the parking space information, and to determine whether the presence of the obstacle affects the parking of the vehicle.

[0054] In another example, if the obstacle is in motion, it could correspond to either Case 2 or Case 4 in Figure 2 mentioned above. In this case, it is necessary to dynamically calculate the remaining space of the target parking space based on the obstacle's state and position information, as well as the parking space information. This is because the remaining space changes as the obstacle moves.

[0055] As described above, by executing different calculation logics for remaining space based on the state of obstacles, it is possible to handle a variety of cases where obstacles are present, thereby improving the adaptability of intelligent parking. Furthermore, parking can be performed in a timely manner as soon as the remaining space meets the vehicle's parking conditions, saving the user time.

[0056] In one embodiment, when an obstacle is in motion, different detection cycles may be set depending on the direction of motion of the obstacle. That is, if the direction of motion is away from the target parking space, the remaining space of the target parking space is dynamically calculated based on the state information of the obstacle, the position information of the obstacle, and the parking space information, based on the first detection cycle. If the direction of motion is towards the target parking space, the remaining space of the target parking space is dynamically calculated based on the state information of the obstacle, the position information of the obstacle, and the parking space information, based on the second detection cycle. Here, the second detection cycle is longer than the first detection cycle.

[0057] For example, if the direction of motion of the obstacle is away from the target parking space, the remaining space of the target parking space may be dynamically calculated based on the state information of the obstacle, the position information of the obstacle, and the parking space information, based on the first detection cycle.

[0058] In another example, if the direction of motion of the obstacle is toward the target parking space, the remaining space of the target parking space may be dynamically calculated based on the state information of the obstacle, the position information of the obstacle, and the parking space information, based on the second detection cycle.

[0059] Furthermore, when an obstacle moves away from a parking space, the likelihood of the remaining space meeting the vehicle's parking requirements increases compared to when it moves closer to the space. Therefore, by setting the second detection cycle to be longer than the first detection cycle, the detection frequency when an obstacle moves away from a parking space can be increased. This ensures that the vehicle can be parked quickly after the obstacle clears the space, saving the user time.

[0060] In an exemplary embodiment, when step 302 is performed, the size occupied by the obstacle in the target parking space is calculated based on the obstacle information and parking space information; the remaining length is calculated by subtracting the size occupied by the obstacle in the longitudinal direction from the length of the parking space in the longitudinal direction; the remaining width is calculated by subtracting the size occupied by the obstacle in the width direction and the door opening width with the door open from the width of the parking space in the width direction of the target parking space; and if the remaining length exceeds a predetermined length and the remaining width exceeds a predetermined width, it may be determined that the remaining space satisfies the vehicle parking conditions.

[0061] Please refer to Figure 4. Figure 4 is a schematic diagram illustrating an intelligent parking scenario according to one exemplary embodiment of this specification.

[0062] As shown in Figure 4, the influence of obstacle 3 on the parking space in the longitudinal direction is greater than its influence in the width direction. Therefore, for obstacle 3, the size of the parking space occupied in the longitudinal direction by obstacle 3 may be calculated based on the obstacle information and parking space information of obstacle 3.

[0063] Furthermore, in the longitudinal direction, by subtracting the occupied size L3 corresponding to the longitudinal direction of the obstacle 3 from the length L of the parking space, the remaining length L is obtained. 残存 You may obtain it.

[0064] As shown in Figure 4, the influence of obstacles 1 and 2 on the width of the parking space is greater than the influence on the length. Therefore, for obstacles 1 and 2, the size of the parking space occupied in the width direction of obstacle 1 may be calculated based on the obstacle information and parking space information of obstacle 1, and the size of the parking space occupied in the width direction of obstacle 2 may be calculated based on the obstacle information and parking space information of obstacle 2.

[0065] In some embodiments, in the width direction, the width W of the parking space is subtracted from the occupied size W1 corresponding to the width direction of obstacle 1 and the occupied size W2 corresponding to the width direction of obstacle 2, and the door opening width W in the door open state is also subtracted. ドア By subtracting this, the remaining width W 残存 You may obtain it.

[0066] Here, it is necessary to ensure sufficient door opening width to facilitate the boarding and alighting of passengers. This width may be in the range of 0.1 meters to 0.4 meters, and is not limited to this value in this specification.

[0067] After determining the remaining length and width as described above, it may be determined whether the remaining space of the target parking space meets the vehicle parking requirements by comparing these with a predetermined length and width required for parking a vehicle.

[0068] If either the remaining length or the remaining width is less than a predetermined value, it is determined that the remaining space does not meet the vehicle parking requirements. Conversely, if both the remaining length and the remaining width exceed a predetermined length, it may be determined that the remaining space meets the vehicle parking requirements.

[0069] In an exemplary embodiment, when calculating the size occupied by an obstacle in the target parking space, the relative position of the obstacle with respect to the target parking space may be determined based on the obstacle information and parking space information, and the size occupied by the obstacle in the target parking space in the longitudinal and / or widthwise directions of the target parking space may be calculated based on the relative position of the obstacle with respect to the target parking space.

[0070] Furthermore, with respect to obstacles present within the target parking space, the relative position of the obstacle to the target parking space may first be determined based on obstacle information and parking space information. Then, based on the relative position of the obstacle to the target parking space, it may be decided whether or not to calculate the occupied size of the parking space in the longitudinal or widthwise direction by the obstacle.

[0071] For example, in Figure 4, obstacle 1 is located to the left of the parking space and is not in the central area of ​​the parking space. Therefore, the influence of obstacle 1 in the longitudinal direction is smaller than its influence in the width direction. The same applies to obstacle 2. On the other hand, obstacle 3 is located at the rear of the parking space and is not in the central area of ​​the parking space, so the influence of obstacle 3 in the width direction is smaller than its influence in the longitudinal direction. In contrast, obstacle 4 is located in the central area of ​​the parking space, and therefore affects vehicle parking in both the longitudinal and width directions.

[0072] In one embodiment, the occupied size is the maximum vertical distance between the boundary line closest to the obstacle and the outer contour of the obstacle facing the target parking space.

[0073] For example, when calculating the size occupied by an obstacle, in order to improve the accuracy of the calculation, the size occupied can be defined as the maximum vertical distance between the boundary line closest to the obstacle and the outer contour of the obstacle facing the target parking space.

[0074] Taking Figure 4 as an example, if, for obstacle 1, the boundary line closest to obstacle 1 is the left parking space boundary line, and the side of the obstacle facing the parking space is the right side of the obstacle, then the vertical distance from each point on the right-side contour of the obstacle to the left parking space boundary line can be calculated, and the value with the maximum distance may be taken as the occupied size W1. If we assume that the point on the contour of the obstacle facing the parking space that is furthest from the left parking space boundary line is P1, then the occupied size W1 may also be the vertical distance from P1 to the left parking space boundary line.

[0075] In Figure 4, the area inside the boundary line is used as the reference point; however, in actual application, those skilled in the art can select the appropriate area as needed. Similarly, the examples of length L and width W of the parking space shown in Figure 4 do not limit the size of the parking space; the length and width of the parking space may be defined as needed by those skilled in the art.

[0076] Furthermore, the contour shown in Figure 4 above may be a projection of obstacle 1 onto the plane where the parking space is located, or the furthest point may be determined by another method.

[0077] In an exemplary embodiment, when step 302 is performed, the three-dimensional space occupied by the obstacle in the target parking space is calculated based on the obstacle information and parking space information, and the occupied three-dimensional space is removed from the theoretical three-dimensional space of the target parking space based on the occupied three-dimensional space to obtain the remaining three-dimensional space. Then, if each of the three-dimensional dimensions of the remaining three-dimensional space is greater than or equal to a predetermined threshold, it is determined that the remaining space satisfies the vehicle parking conditions. Here, the threshold is determined based on the type of vehicle.

[0078] Figures 5A and 5B are schematic diagrams illustrating an intelligent parking scenario according to one exemplary embodiment of this specification.

[0079] While Figure 4 considers the occupied size in the longitudinal and width directions, Figures 5A and 5B add consideration to the height direction, allowing for the handling of more complex environments.

[0080] For example, in an outdoor environment, tree branches may interfere with (contact with) the roof of a vehicle, potentially damaging the roof during parking. The embodiments shown in Figures 5A and 5B offer superior adaptability and can flexibly handle such situations. If the space below the branches is sufficient to park the vehicle, it can be determined that the remaining space in the target parking space meets the vehicle's parking requirements, and the subsequent parking steps can be completed.

[0081] For example, based on the obstacle information and parking space information, the three-dimensional space corresponding to the obstacle and the theoretical three-dimensional space of the parking space may be determined, and based on the portion of the parking space occupied by the obstacle, the three-dimensional space occupied by the obstacle in the target parking space may be calculated.

[0082] Subsequently, based on the concept of trimming, the three-dimensional space occupied by the obstacle may be removed from the theoretical three-dimensional space of the target parking space to obtain the remaining three-dimensional space of the target parking space.

[0083] Taking Figures 5A and 5B as examples, if we assume that the space occupied by the obstacle is a rectangular prism, then the remaining space obtained after removing it from the theoretical three-dimensional space will also be a rectangular prism. When this is represented in an overhead view (plan view), it corresponds to the gray dashed lines in Figures 5A and 5B.

[0084] As shown in Figures 5A and 5B, the remaining usable three-dimensional space is smaller in Figure 5B than in Figure 5A because there are three obstacles in Figure 5B.

[0085] Although Figures 5A and 5B are shown as overhead views (plan views), the concept of the present invention is easy to understand and will not hinder the understanding of those skilled in the art.

[0086] Furthermore, the above removal method is merely an example, and in actual removal, the system may be configured to remove the space occupied by the obstacle to secure more remaining space, and then determine whether or not a vehicle can be parked in that remaining space. Those skilled in the art will be able to appropriately determine the extent to which the space occupied by the obstacle is removed, based on an understanding of the concept of the invention provided herein, and this specification does not limit this.

[0087] To give another example, if each of the three-dimensional dimensions (i.e., length, width, and height) of the remaining three-dimensional space is greater than or equal to a predetermined threshold, it may be determined that the remaining space satisfies the vehicle parking conditions.

[0088] Here, the thresholds for each of the length, width, and height dimensions may be determined based on the vehicle type, and different thresholds can be set for different vehicle types.

[0089] In this embodiment, if the remaining space of the target parking space satisfies the vehicle parking conditions, the actual parking position of the vehicle may be determined based on the remaining space.

[0090] For example, a conditional judgment may be made on the calculated remaining space to determine whether or not the remaining space allows for vehicle parking. If it does, it may be determined that the remaining space satisfies the vehicle parking conditions, and the actual parking position of the vehicle may be determined based on the remaining space.

[0091] In an exemplary embodiment, when performing step 303, the dimensions of the actual parking position of the vehicle and the offset of the actual parking position with respect to the boundary line of the target parking space may be determined based on the remaining space and the dimensions of the vehicle.

[0092] In some embodiments, the actual parking position of the vehicle may be determined based on the remaining space and the dimensions of the vehicle. Here, the actual parking position of the vehicle may include the dimensions of the actual parking position (e.g., length and width), and may also include the offset of the actual parking position from the boundary line of the target parking space. This makes it easier to position the vehicle when parking and determines the final parking position.

[0093] In this embodiment, a route plan for the vehicle may be performed based on the actual parking location, and parking may be completed based on the planned route.

[0094] In some embodiments, the vehicle's path may be planned based on the center of gravity (or center) of the vehicle's current position and the center of gravity (or center) of the actual parking position, and parking may be completed based on the planned path.

[0095] In an exemplary embodiment, when performing step 304, the actual orientation of the vehicle when it parks in the actual parking position may be determined based on the actual parking position, and the vehicle's route plan may be performed based on the vehicle's current orientation and actual orientation.

[0096] In some embodiments, the actual orientation of the vehicle when it parks in an actual parking space may be determined based on the actual parking space. For example, orientation parameters such as the angle at which the vehicle enters the space and the orientation when it parks in that space are determined based on the actual parking space. Then, by comparing these parameters with the orientation parameters of the vehicle's current orientation, a method for adjusting the vehicle's orientation necessary for route planning is determined.

[0097] According to the proposed technology, if an obstacle exists within the target parking space, the remaining space within the target parking space is calculated based on obstacle information and parking space information. Furthermore, the usable space for parking within that remaining space is determined to obtain the actual parking position. Subsequently, a route plan is performed based on the actual parking position of the vehicle, and the vehicle is parked. In the above process, on the one hand, by considering the impact of obstacles in advance before route planning, the efficiency of parking can be improved, and the waste of time and computational resources due to route replanning can be avoided. On the other hand, by calculating the remaining space based on obstacle information and completing the vehicle's route plan by making maximum use of the remaining space, parking can be achieved with the impact of obstacles reduced as much as possible. In addition, since the entire parking process does not require human intervention and is performed automatically by the vehicle, the user experience is improved and parking safety is ensured.

[0098] Exemplary embodiments of this specification further provide devices capable of implementing the above method.

[0099] Figure 6 is a schematic diagram showing the configuration of a device according to one exemplary embodiment. Referring to Figure 6, at the hardware level, the device comprises a processor 602, an internal bus 604, a network interface 606, memory 608, and non-volatile memory 610, and may include other hardware as needed. One or more embodiments of this specification may be implemented by software, for example, the processor 602 reads a corresponding computer program from the non-volatile memory 610 and executes it on memory 608. Of course, in addition to the software implementation, one or more embodiments of this specification do not exclude other implementations such as logic circuits or combinations of software and hardware. That is, the entity executing the following processing steps is not limited to a specific logic unit, but may be hardware or a logic circuit.

[0100] Referring to Figure 7, an intelligent parking system 700 is provided in one software embodiment. The system 700 includes an acquisition module 701 configured to acquire spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present in the target parking space, the obstacle information including location information of the obstacles; a calculation module 702 configured to calculate the remaining space of the target parking space based on the obstacle information and the parking space information; a determination module 703 configured to determine the actual parking position of the vehicle based on the remaining space if the remaining space satisfies the vehicle parking conditions; and a planning module 704 configured to plan the vehicle's route based on the actual parking position and park the vehicle based on the planned route.

[0101] Optionally, the acquisition module 701 may be configured to acquire spatial information within a predetermined range within the target parking space and outside the boundary line of the target parking space.

[0102] Optionally, the acquisition module 701 is further configured to identify the target parking space and the obstacles present within the target parking space, based on at least one of an image acquisition device and an on-board radar device mounted on the vehicle, and to acquire parking space information for the target parking space and obstacle information corresponding to the obstacles present within the target parking space.

[0103] In some embodiments, the obstacle information further includes the state information of the obstacle, the state information includes the direction of motion and the velocity of motion, and the calculation module 702 is further configured to calculate the remaining space of the target parking space based on the position information of the obstacle and the parking space information when the obstacle is stationary, and to dynamically calculate the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle and the parking space information when the obstacle is in motion.

[0104] In some embodiments, the calculation module 702 is further configured to dynamically calculate the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle, and the parking space information when the direction of motion is away from the target parking space, based on a first detection cycle, and to dynamically calculate the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle, and the parking space information when the direction of motion is towards the target parking space, based on a second detection cycle. Here, the second detection cycle is longer than the first detection cycle.

[0105] In some embodiments, the calculation module 702 is configured to further calculate the occupied size of the obstacle in the longitudinal and width directions of the target parking space, respectively, based on the obstacle information and the parking space information, to calculate the remaining length in the longitudinal direction of the target parking space by subtracting the occupied size of the obstacle in the longitudinal direction from the length of the parking space, and to calculate the remaining width in the width direction of the target parking space by subtracting the occupied size of the obstacle in the width direction and the door opening width with the door open from the width of the parking space. The determination module 703 is further configured to determine that the remaining space satisfies the vehicle parking conditions if the remaining length exceeds a predetermined length and the remaining width exceeds a predetermined width.

[0106] In some embodiments, the calculation module 702 is further configured to determine the relative position of the obstacle with respect to the target parking space based on the obstacle information and the parking space information, and to calculate the size of the obstacle occupied in the target parking space in at least one of the longitudinal and width directions of the target parking space based on the relative position of the obstacle with respect to the target parking space.

[0107] In some embodiments, the occupied size is the maximum vertical distance between the boundary line closest to the obstacle and the outer contour of the obstacle facing the target parking space.

[0108] In some embodiments, the calculation module 702 is further configured to calculate the three-dimensional space occupied by the obstacles in the target parking space based on the obstacle information and the parking space information, and to remove the occupied three-dimensional space from the theoretical three-dimensional space of the target parking space based on the occupied three-dimensional space to obtain the remaining three-dimensional space. The determination module 703 is further configured to determine that the remaining space satisfies the vehicle parking conditions if each of the three-dimensional dimensions of the remaining three-dimensional space is greater than or equal to a predetermined threshold. The threshold is determined based on the vehicle type.

[0109] In some embodiments, the determination module 703 is further configured to determine the dimensions of the actual parking position of the vehicle and the offset of the actual parking position relative to the boundary line of the target parking space, based on the remaining space and the dimensions of the vehicle.

[0110] In some embodiments, the planning module 704 is further configured to determine the actual orientation of the vehicle when it parks in the actual parking position, based on the actual parking position, and to plan the vehicle's route based on the vehicle's current orientation and the actual orientation.

[0111] For details on the implementation process of the functions and operations of each module in the above-described device 700, please refer to the implementation process of the corresponding steps in the above-described method. Relevant sections can be found in the description of some embodiments of the method, and are omitted here.

[0112] The embodiments of the apparatus described above are illustrative, and the units described as separate components may or may not be physically separated. Furthermore, the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of these units can be selected as needed to achieve the objectives of the technical proposal described herein. Those skilled in the art will understand and implement the invention without expending any creative effort.

[0113] The systems, devices, modules, or units described in the above embodiments may be specifically implemented by computer chips or entities, or by products having some function. Typical implementing devices are computers, and specific forms of computers may include personal computers, laptop computers, mobile phones, camera phones, smartphones, personal digital assistants (Personal Digital Assistants), media players, navigation devices, email sending and receiving devices, game consoles, tablet computers, wearable devices, or any combination of these devices.

[0114] In a typical configuration, a computer includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0115] Memory may include volatile memory, random access memory (RAM), and / or non-volatile memory in a computer-readable medium (e.g., read-only memory (ROM) or flash memory (flash RAM)). Memory is an example of a computer-readable medium.

[0116] Computer-readable media include media implemented in any way or technique for storing information, such as persistent and non-persistent, removable and non-removable. The stored information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital purpose discs (DVDs) or other optical disc storage, magnetic tape, magnetic disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or other non-transitory media used to store information accessible by computing devices. In the definition herein, computer-readable media does not include transient media such as modulated data signals or carrier waves.

[0117] The terms “include,” “contain,” or any other variation thereof mean non-exclusive inclusion. That is, a process, method, product, or device that includes a set of elements may also include, in addition to those elements, other elements not expressly listed, or elements specific to that process, method, product, or device. Unless otherwise specified, the statement “includes…” does not preclude the existence of additional identical elements in the process, method, product, or device that include that element.

[0118] Specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the operations or steps described in the claims may be performed in a different order than those in the embodiments, and the desired results may still be achieved. Furthermore, the processes depicted in the drawings may achieve the desired results without necessarily requiring the specific order or sequence shown. In some embodiments, multitasking and parallel processing may be possible or advantageous.

[0119] The terms used in one or more embodiments of this specification are for the purpose of describing a particular embodiment and are not intended to limit one or more embodiments of this specification. The singular forms “one kind,” “the said,” and “the said” used in one or more embodiments of this specification and in the appended claims are intended to include the plural form unless the context clearly indicates otherwise. The terms “and / or” used herein should be understood to refer to and encompass any possible combination and all combinations of one or more of the associated enumerated items.

[0120] In one or more embodiments of this specification, terms such as first, second, third, etc., may be used to describe various types of information, but it should be understood that this information should not be limited to these terms. These terms are used solely to distinguish information of the same type from one another. For example, without departing the scope of one or more embodiments of this specification, first information may be called second information, and similarly, second information may be called first information. Depending on the context, the word “if” as used herein may be interpreted as “when,” “in the event of,” or “depending on having decided that.”

[0121] The foregoing are merely one or more examples of this specification and are not intended to limit this specification. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of one or more examples of this specification should be included within the scope of one or more examples of this specification.

Claims

1. A step of acquiring spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present within the target parking space, and the obstacle information includes location information of the obstacles. A step of calculating the remaining space of the target parking space based on the aforementioned obstacle information and parking space information, If the remaining space satisfies the vehicle parking conditions, the step of determining the actual parking position of the vehicle based on the remaining space, The steps include: planning the vehicle's route based on the actual parking location, and parking the vehicle along the planned route. An intelligent parking method characterized by the following features.

2. The step of acquiring spatial information of the target parking space is: The step includes acquiring spatial information within a predetermined range, both within the target parking space and outside the boundary line of the target parking space. The intelligent parking method according to feature 1.

3. The step of acquiring spatial information of the target parking space is: The steps include identifying the target parking space and the obstacles present within the target parking space based on at least one of an image acquisition device and an on-board radar device mounted on the vehicle, The steps include obtaining parking space information for the target parking space and obstacle information corresponding to obstacles present within the target parking space. The intelligent parking method according to feature 1.

4. The aforementioned obstacle information further includes state information of the obstacle, and the state information includes the direction of motion and the speed of motion. The step of calculating the remaining space of the target parking space based on the aforementioned obstacle information and parking space information is as follows: If the obstacle is stationary, the remaining space of the target parking space is calculated based on the location information of the obstacle and the parking space information. If the obstacle is in motion, the step includes dynamically calculating the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle, and the parking space information. The intelligent parking method according to feature 1.

5. The step of dynamically calculating the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle, and the parking space information is as follows: If the direction of movement of the obstacle is away from the target parking space, the remaining space of the target parking space is dynamically calculated based on the state information of the obstacle, the position information of the obstacle, and the parking space information, based on the first detection cycle. If the direction of motion of the obstacle is toward the target parking space, the method includes the step of dynamically calculating the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle, and the parking space information, based on a second detection cycle. Here, the second detection period is longer than the first detection period. The intelligent parking method according to feature 4.

6. The step of calculating the remaining space of the target parking space based on the aforementioned obstacle information and parking space information is as follows: A step of calculating the size of the obstacle occupied in the target parking space based on the obstacle information and the parking space information, The steps include: calculating the remaining length by subtracting the size occupied by the obstacle in the longitudinal direction from the length of the parking space in the longitudinal direction of the target parking space; The process includes the step of calculating the remaining width by subtracting the size occupied by the obstacle in the width direction and the door opening width when the door is open from the width of the parking space in the width direction of the target parking space, For the remaining space to satisfy the vehicle parking conditions, this includes the remaining length exceeding a predetermined length and the remaining width exceeding a predetermined width. The intelligent parking method according to feature 1.

7. The step of calculating the size of the obstacle occupied in the target parking space based on the obstacle information and the parking space information is as follows: The steps include determining the relative position of the obstacle with respect to the target parking space based on the obstacle information and the parking space information, The step includes calculating the size of the obstruction in the target parking space in at least one of the longitudinal and width directions of the target parking space, based on the relative position of the obstruction with respect to the target parking space. The intelligent parking method according to feature 6.

8. The occupied size is the maximum vertical distance between the boundary line closest to the obstacle and the outer contour of the obstacle facing the target parking space. The intelligent parking method according to feature 6.

9. The step of calculating the remaining space of the target parking space based on the aforementioned obstacle information and parking space information is as follows: A step of calculating the three-dimensional space in which the obstacle occupies the target parking space based on the aforementioned obstacle information and parking space information, The step of removing the occupied three-dimensional space from the theoretical three-dimensional space of the target parking space based on the occupied three-dimensional space, and obtaining the remaining three-dimensional space, is included. Here, the remaining space satisfying the vehicle parking conditions includes each of the three-dimensional dimensions of the remaining three-dimensional space being greater than or equal to a predetermined threshold, and the threshold is determined based on the type of vehicle. The intelligent parking method according to feature 1.

10. The step of determining the actual parking position of the vehicle based on the remaining space is: The step includes determining the dimensions of the actual parking position of the vehicle and the offset of the actual parking position relative to the boundary line of the target parking space, based on the remaining space and the dimensions of the vehicle. The intelligent parking method according to feature 1.

11. Planning the vehicle's route based on the actual parking location is: The steps include determining the actual orientation of the vehicle when it parks in the actual parking position, based on the actual parking position, The step of planning a route for the vehicle based on the vehicle's current and actual attitudes includes: The intelligent parking method according to feature 1.

12. An acquisition module configured to acquire spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present within the target parking space, and the obstacle information includes location information of the obstacles, and the acquisition module A calculation module configured to calculate the remaining space of the target parking space based on the aforementioned obstacle information and parking space information, A determination module configured to determine the actual parking position of the vehicle based on the remaining space if the remaining space satisfies the vehicle parking conditions, A planning module configured to plan the vehicle's route based on the actual parking location and to park the vehicle according to the planned route. An intelligent parking system characterized by the following features.

13. An electronic device comprising a processor and a memory for storing instructions that can be executed by the processor, The processor is configured to execute the intelligent parking method described in any one of claims 1 to 11 by executing the executable instructions. An electronic device characterized by the following features.

14. A machine-readable storage medium in which machine-readable instructions are stored, When the machine-readable instruction is executed by the processor, the intelligent parking method according to any one of claims 1 to 11 is executed. A machine-readable storage medium characterized by the following features.

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