Method, apparatus, vehicle, and storage medium for determining the path angle of a slanted 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 with an application number of No. 202310688853.8, filed with the China National Intellectual Property Administration on June 9, 2023, and all the contents of this application are incorporated herein by reference.

[0002] Embodiments of this application relate to the field of autonomous driving technology, and particularly 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 position after exiting 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 in the related art that the diagonal exiting function cannot be realized in automatic parking.

Means for Solving the Problems

[0005] According to one aspect of this application, obtaining 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; This includes determining the path angle at which the vehicle exits the diagonal parking space, based on the coordinates of the first and second reference points. This invention provides a method for determining the path angle of a diagonal parking space.

[0006] According to another aspect of this application, An acquisition module for acquiring environmental information of the vehicle, which is information related to the vehicle's escape from a slanted parking space, among the surrounding environment of the vehicle, A first determination module for obtaining a first control point and a second control point based on the aforementioned environmental information, wherein the connecting line between the first control point and the second control point is parallel to the road, The system comprises a second determination module for determining the path angle at which the vehicle exits the diagonal parking space, based on the coordinates of the first and second reference points. The present invention provides a device for determining the path angle of a slanted parking space.

[0007] According to another aspect of this application, At least one radar, At least one camera, At least one processor, The system comprises a memory connected to at least one of the processors, The at least one radar and the at least one camera are communicated to the at least one processor and the memory. The memory stores a computer program that can be executed 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 method for determining the angle of a slanted parking space according to any embodiment of the present application. We will provide the vehicle.

[0008] According to another aspect of this application, When executed by the processor, computer instructions for implementing the method for determining the angle of a slanted parking space described in any embodiment of the present application are stored. Provides computer-readable storage media. [Effects of the Invention]

[0009] In the method, apparatus, vehicle, and storage medium for determining the course angle of a vehicle in an inclined parking space according to an embodiment of the present application, the method includes: acquiring environmental information of the vehicle, which is information relating to the vehicle's exit from the inclined parking space, from the surrounding environment of the vehicle; obtaining a first reference point and a second reference point based on the environmental information, determining that the line connecting the first reference point and the second reference point is parallel to the road; and determining the course angle of the vehicle to exit the inclined parking space based on the coordinates of the first reference point and the second reference point. This method determines the first and second reference points based on information of the surrounding environment of the vehicle, and determines the course angle of the vehicle to exit the inclined parking space based on the coordinates of the first and second reference points, thereby calculating the course angle of the vehicle when it exits the inclined parking space and ensuring that the final vehicle posture after exiting the inclined parking space is parallel to the actual road, thus solving the problem in related technologies that an inclined exit function cannot be realized in automatic parking. [Brief explanation of the drawing]

[0010] To more clearly explain the technical concept in the embodiments of this application, the drawings that need to be used in the description of the embodiments will be briefly described below. The drawings in the following description are only a few embodiments of this application, and it will be obvious to those skilled in the art that other drawings can be obtained based on these drawings without any creative work. [Figure 1] This is a schematic flowchart of the method for determining the path angle of an inclined parking space according to Embodiment 1 of the present invention. [Figure 2] This is a schematic diagram showing the location of the road according to the embodiment of the present invention. [Figure 3] This is a schematic diagram of the coordinate system according to an embodiment of the present invention. [Figure 4] This is a schematic diagram of an inclined parking space according to an embodiment of the present invention. [Figure 5]This is a schematic flowchart of the method for determining the path angle of an oblique parking space according to Embodiment 2 of the present invention. [Figure 6] This is a schematic diagram of the structure of a device for determining the path angle of an oblique parking space according to Embodiment 3 of the present invention. [Figure 7] This is a schematic diagram of the structure of a vehicle according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] To enable those skilled in the art to better understand the present invention, the technical invention in the embodiments of the present invention will be described clearly and completely below with reference to the drawings of the embodiments; however, it is clear that the embodiments described are only a part of the embodiments of the present invention and not all of them. All other embodiments obtained by those skilled in the art without creative work based on the embodiments of the present invention must fall within the scope of the protection of the present invention. It should be understood that each step described in the method embodiments of the present invention may be performed in a different order and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the execution of the indicated steps. The scope of the present invention is not limited in this respect.

[0012] As used herein, the term “including” and its variations are open-ended, equivalent to “including but not limited to.” The term “based on” means “based on at least part of.” The term “one embodiment” refers to “at least one embodiment,” the term “another embodiment” refers to “at least one other embodiment,” and the term “several embodiments” refers to “at least several embodiments.” Definitions of other terms are given below.

[0013] In addition, terms such as "first", "second", etc. in the specification, 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 imply 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 explicitly listed, and may include other steps or units not explicitly listed or specific to these processes, methods, products or devices.

[0014] Regarding the modification of "one" and "a plurality" in this application, it is illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

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

[0016] [Example 1] FIG. 1 is a flow schematic diagram of a method for determining the approach angle of a diagonal parking space according to Example 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 integrated in a normal vehicle. In this example, the vehicle includes, but is not limited to, general transport automobiles, special-purpose automobiles, automobiles for special purposes, etc.

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

[0018] S110. Environmental information of the vehicle is acquired, which is information related to the vehicle's escape from the diagonal parking space, among the surrounding environment of the vehicle.

[0019] Here, the vehicle may be a vehicle parked in an inclined parking space. The inclined parking space may be a parking space with an inclination angle, mainly a parallelogram-shaped parking space. The inclined parking space may be a parking space with parking lines drawn on it, or it may be a parking space without parking lines drawn on it. The environmental information may be information about the vehicle's surrounding environment that allows the vehicle to exit the inclined parking space, and based on the environmental information, it is possible to determine whether or not there are obstacles on both the left and right sides of the vehicle.

[0020] In this embodiment, the vehicle can first acquire information about its surrounding environment before automatically exiting the diagonal parking space in order to determine whether or not there are parking lines in the parking space and whether or not there are obstacles on both the left and right sides of the vehicle. Since the automatic parking function can only park the vehicle, it can be understood that obstacles in front of and behind the vehicle that may affect exiting the diagonal parking space are dealt with before the driver activates the automatic parking function. If other obstacles are found during the automatic parking process, the vehicle can stop moving and alert the driver to the presence of the obstacles, and this will not be explained again in this embodiment.

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

[0022] Here, the first and second reference points may be reference points distributed on both the left and right sides of the vehicle, respectively, and the connecting line between the first and second reference points is parallel to the road. The first and second reference points will differ depending on the environmental information. For example, the first and second reference points may be the vertices of obstacles on both sides of the vehicle, or they may be the intersections of parking space lines. The road may be a lane for the vehicle to exit the diagonal parking space, and Figure 2 is a schematic diagram of the location of the road according to an embodiment of the present application, and as shown in Figure 2, the road is parallel to one of the shorter sides of the diagonal parking space.

[0023] In this embodiment, the first and second reference points can be determined based on environmental information. For example, if the environmental information determines that there are obstacles on both sides of the vehicle, information about the obstacles can be obtained, and the first and second reference points can be determined based on the information about the obstacles. If the environmental information determines that there are parking lines at the vehicle's parking location and / or on both sides of the vehicle, the first and second reference points can be determined based on the intersection of the parking lines.

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

[0025] Here, the coordinates may be the coordinates of the first and second reference points in the coordinate system. The course angle may be the angle at which the vehicle exits the diagonal parking space, and is the angle between the connecting line between the first and second reference points 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 located on the vehicle body, for example, in the middle of the vehicle or at another location on the vehicle body.

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

[0027] The method for determining the course angle of a vehicle in an inclined parking space according to Embodiment 1 of the present application includes: obtaining environmental information of the vehicle, which is information relating to the vehicle's exit from the inclined parking space, from the surrounding environment of the vehicle; obtaining a first reference point and a second reference point based on the environmental information, determining that the line connecting the first reference point and the second reference point is parallel to the road; and determining the course angle of the vehicle exiting the inclined parking space based on the coordinates of the first reference point and the second reference point. This method calculates the course angle of the vehicle when it exits the inclined parking space, and ensures that the final vehicle posture after exiting the inclined parking space is parallel to the actual road, thereby solving the problem in related technologies that an inclined exit function cannot be realized in automatic parking.

[0028] Based on the above embodiment, a modified embodiment is proposed, but for the sake of simplicity, only the differences from the above embodiment are described in the modified embodiment.

[0029] In one embodiment, the environmental information includes image information, and accordingly, a first reference point and a second reference point are obtained based on the environmental information. The camera acquires image information of the surrounding environment of the vehicle, Based on the aforementioned image information, when it is recognized that there is a parking space for the vehicle and / or parking space lines on both sides of the vehicle, the vision algorithm recognizes the two intersections of parking space lines closest to the front of the vehicle in the image information, and the coordinates of the said intersections of parking space lines. This includes designating the two aforementioned intersection points of parking space lines as the first and second reference points, respectively.

[0030] Here, the image information may be an image of the area around the vehicle and can be acquired by a camera on the vehicle. The parking space lines consist of four corner points and four lines: the entrance line, the dividing lines on both the left and right sides, and the bottom boundary line. The vision algorithm is a mathematical model that attempts to help a computer understand an image. The vision algorithm used in this embodiment may be a BEV (Bird's Eye View) vision algorithm. The parking space line intersections may be the intersections of parking space lines of adjacent parking spaces.

[0031] In this embodiment, a camera can acquire image information of the vehicle's surrounding environment. Based on this image information, it is possible to determine whether or not parking lines exist on both sides of the vehicle's parking location. If parking lines exist, the BEV vision algorithm recognizes the two closest intersections of parking lines on both the left and right sides of the vehicle's front, obtains the coordinates of these two intersections, and designates them as the first and second reference points. When parking lines exist but the intersections cannot be recognized, the first and second reference points can also be determined by recognizing obstacles on both sides of the vehicle. Regarding the vehicle's parking position, it can be understood that if the vehicle's rear is facing the entrance line of a diagonal parking space, the system will recognize the two closest intersections of parking lines on both the left and right sides of the vehicle's rear.

[0032] In this embodiment, if parking space lines exist in the vehicle parking area, the first and second reference points can be directly determined by the intersection of the parking space lines.

[0033] For illustrative purposes, Figure 4 is a schematic diagram of an inclined parking space according to an embodiment of the present invention. As shown in Figure 4, there are parking space lines on both the left and right sides of the vehicle parking area. Here, B and C are the two intersection points of the parking space lines closest to the front of the vehicle, and since the line segment BC is not parallel to the road, they can be designated as the first and second reference points, respectively.

[0034] In one embodiment, the vehicle's exit angle is calculated based on the coordinates of the first and second reference points. Based on inverse trigonometric functions, the angle between the line segment formed by the first and second reference points and the vertical axis whose direction of location is the same as the direction of vehicle movement is calculated, This includes making the aforementioned angle the angle of the vehicle's exit from the depot.

[0035] Here, inverse trigonometric functions are basic elementary functions. Inverse trigonometric functions are a collective term for the functions arcsinx (inverse sine), arccosx (inverse cosine), arctanx (inverse tangent), arccotx (inverse cotangent), arcsecx (inverse secant), and arcscx (inverse cosecant), each representing the angle where its sine, cosine, tangent, cotangent, secant, and cosecant are x. The direction of movement may also be the direction of movement of the vehicle.

[0036] In this embodiment, the angle between the line segment consisting of the first and second reference points and the vertical axis can be calculated based on inverse trigonometric functions, and this angle can be taken as the vehicle exit angle θ. For example, the inverse trigonometric function used in this embodiment may be the arctangent function, and if the coordinates of the first reference point are (x1, y1) and the coordinates of the second reference point are (x2, y2), then the vehicle exit angle is

number

[0037] This embodiment accurately calculates the path angle when a vehicle exits a parking space using inverse trigonometric functions, and makes the final vehicle orientation parallel to the actual road when the vehicle exits at an angle.

[0038] In one embodiment, before acquiring vehicle environmental information, The system determines whether or not automatic parking information for the vehicle exists, and if it does not exist, it performs an operation to acquire the vehicle's environmental information; otherwise (if it does exist), it determines the angle of the parking space when the vehicle enters the parking space based on the automatic parking information for the vehicle. The method further includes determining the exit angle of the vehicle 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 at which the vehicle is parked.

[0040] In this embodiment, when the automatic parking information includes information about when the driver enters an oblique parking space, and the driver exits the oblique parking space, the automatic parking function (Auto Parking Assist, APA) can prompt the driver to determine the exiting angle based on the angle of the parking space during the previous automatic oblique entry. In this embodiment, the method for determining the exiting angle based on the angle of the parking space is not limited.

[0041] In this embodiment, if automatic parking information is stored in the vehicle, the vehicle's exit angle can be directly determined based on the automatic parking information, thereby ensuring that the final vehicle orientation when exiting at an angle is parallel to the actual road.

[0042] In one embodiment, the method for acquiring the path angle may further include determining the angle of the parking space when the vehicle enters the parking space based on the vehicle's automatic parking information, and determining the path angle when the vehicle exits the parking space based on the angle of the parking space.

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

[0044] [Example 2] Figure 5 is a schematic flowchart of the method for determining the path angle of an inclined parking space according to Embodiment 2 of the present invention, and Embodiment 2 is optimized based on the above embodiments. In this embodiment, the environmental information may include obstacle information. For details not described in this embodiment, please refer to Embodiment 1.

[0045] As shown in Figure 5, the method for determining the course angle of an oblique parking space according to this embodiment 2 includes the following steps.

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

[0047] S220, the radar scans for obstacles on both sides of the vehicle and obtains a set of point coordinates for the obstacles.

[0048] Here, the radar may be an electronic device that uses electromagnetic waves to search for targets and can be mounted on a vehicle. The radar may be a laser radar, ultrasonic radar, microwave radar, etc., and may also be, for example, a long-range probe. The obstacles may be other vehicles parked on either side of the vehicle. The point coordinate set may be a set of coordinates of points on the obstacles.

[0049] In this embodiment, before the vehicle begins to exit the parking space, its initial position is parked in a diagonal parking space, and once the vehicle begins to exit, its first path is straight ahead. Therefore, immediately after the vehicle begins to exit, the radar can scan points on obstacles on both sides of the vehicle at regular intervals (for example, every 5 centimeters), and the coordinates of the scanned points can be determined. For points on obstacles, the horizontal coordinate can be determined based on the distance from the vehicle to the obstacle scanned by the radar, and the vertical coordinate can be determined based on the distance the vehicle has moved forward.

[0050] S230, the first and second reference points are determined based on the two points closest to the road from the set of point coordinates.

[0051] In this embodiment, the first and second reference points can be determined based on the two points closest to the road in the obtained point coordinate set. For example, as shown in Figure 3, the points on either side of the vehicle closest to the road last scanned by the vehicle are A and B, respectively.

[0052] In one embodiment, determining the first and second reference points based on the two points closest to the road from the set of point coordinates is: Obtain the two points closest to the road from the aforementioned set of point coordinates, Of the two points mentioned above, the first reference point is obtained by processing the point that does not exist on the road edge, This includes designating the point located on the road edge as the second reference point among the two points mentioned above.

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

[0054] Furthermore, obtaining the first reference point by processing the point among the two aforementioned points that does not exist on the road edge is, Of the two points mentioned above, the horizontal coordinate of the point that does not exist on the road edge is translated by a predetermined distance in the direction away from the vehicle, This includes setting the point after translation as the first reference point.

[0055] Here, the predetermined distance may be the width of the obstacle, and the predetermined distance can be used to determine the distance that a point not located on the road edge needs to travel in translation, and can be set according to the actual situation.

[0056] In this embodiment, for points that do not exist on the road edge, their horizontal coordinates can be translated by a predetermined distance away from the vehicle, and the resulting point can be designated as the first reference point. For example, as can be seen from Figure 3, the connecting line between A' and B is parallel to the road, so the coordinates of point A' can be determined based on the coordinates of point A. If the obstacle is a vehicle, the width of the vehicle can be set to 1.9 meters (other values ​​may be used), and thus the predetermined distance becomes 1.9 meters. In this case, since point A' is located to the left of point A with respect to the positive x-axis, if the coordinates of point A are (x,y), then 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, based on the coordinates of the first reference point and the second reference point, the direction angle for the vehicle to exit the diagonal parking space is determined.

[0058] The method for determining the course angle of a slanted parking space according to this embodiment 2 includes: acquiring environmental information of the vehicle, which is information relating to the vehicle's exit from the slanted parking space, from the surrounding environment of the vehicle; scanning obstacles on both sides of the vehicle with 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 from the set of point coordinates; and determining the course angle of the vehicle exiting the slanted parking space based on the coordinates of the first and second reference points. This method, by scanning obstacles on both sides of the vehicle with radar to obtain a set of point coordinates of the obstacles and determining a first reference point and a second reference point based on the two points closest to the road from the set of point coordinates, can calculate the course angle of the vehicle when it exits the slanted parking space even when there are no parking lines in the slanted parking space, and ensure that the final vehicle posture after exiting the slanted parking space is parallel to the actual road, thus solving the problem in related technologies that an slanted exit function cannot be realized in automatic parking.

[0059] [Example 3] Figure 6 is a schematic diagram of the structure of a diagonal parking space path angle determination device according to Embodiment 3 of the present invention. This device, which can be implemented with software and / or hardware and is usually integrated into a vehicle, can be applied when controlling a vehicle to park automatically.

[0060] As shown in Figure 6, the device is An acquisition module 310 for acquiring environmental information of the vehicle, which is information related to the vehicle's escape from the diagonal parking space, among the surrounding environment of the vehicle, A first determination module 320 for obtaining a first control point and a second control point based on the aforementioned environmental information, wherein the first determination module 320 has a connecting line between the first control point and the second control point that is parallel to the road, The system includes a second determination module 330 for determining the path angle at which the vehicle exits the diagonal parking space, based on the coordinates of the first and second reference points.

[0061] This embodiment 3 provides a diagonal parking space path angle determination device comprising: an acquisition module for acquiring environmental information of the vehicle, which is information relating to the vehicle's exit 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 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 at which the vehicle exits the diagonal parking space based on the coordinates of the first reference point and the second reference point. By determining the first and second reference points based on information of the surrounding environment of the vehicle and determining the path angle at which the vehicle exits the diagonal parking space based on the coordinates of the first and second reference points, the path angle of the vehicle when exiting the diagonal parking space can be calculated, and it is possible to ensure that the final vehicle posture after diagonal exit is parallel to the actual road, thus solving the problem in related technologies that it is not possible to realize a diagonal exit function in automatic parking.

[0062] Furthermore, the environmental information includes obstacle information, and accordingly, the first decision module 320, A scanning unit for scanning for obstacles on both sides of a vehicle using radar and obtaining a set of point coordinates of the obstacles, The system comprises a determination unit for determining a first reference point and a second reference point based on the two points closest to the road from the aforementioned point coordinate set.

[0063] Furthermore, the decision-making unit is, Obtain the two points closest to the road from the aforementioned set of point coordinates, Of the two points mentioned above, the first reference point is obtained by processing the point that does not exist on the road edge, This includes designating the point located on the road edge as the second reference point among the two points mentioned above.

[0064] Furthermore, obtaining the first reference point by processing the point among the two aforementioned points that does not exist on the road edge is, Of the two points mentioned above, the horizontal coordinate of the point that does not exist on the road edge is translated by a predetermined distance in the direction away from the vehicle, This includes setting the point after translation as the first reference point.

[0065] Furthermore, the environmental information includes image information, and accordingly, the first decision module 320, The camera acquires image information of the surrounding environment of the vehicle, Based on the aforementioned image information, when it is recognized that there is a parking space for the vehicle and / or parking space lines on both sides of the vehicle, the vision algorithm recognizes the two intersections of parking space lines closest to the front of the vehicle in the image information, and the coordinates of the said intersections of parking space lines. This includes designating the two aforementioned intersection points of parking space lines as the first and second reference points, respectively.

[0066] Furthermore, calculating the vehicle's exit angle based on the coordinates of the first and second reference points is possible. Based on inverse trigonometric functions, the angle between the line segment formed by the first and second reference points and the vertical axis whose direction of location is the same as the direction of vehicle movement is calculated, This includes making the aforementioned angle the angle of the vehicle's exit from the depot.

[0067] Furthermore, before acquiring the vehicle's environmental information, Determine whether or not automatic parking information for the vehicle exists, and if it does not exist, perform an operation to acquire environmental information for the vehicle, and if it does exist, determine the angle of the parking space when the vehicle enters the parking space based on the automatic parking information for the vehicle, The method further includes determining the exit angle of the vehicle based on the angle of the parking space.

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

[0069] [Example 4] Figure 7 shows a schematic diagram of the structure of a vehicle that can be used to carry out an embodiment of the present invention. The vehicle is intended to represent a wheeled vehicle that is powered or towed and travels on roads carrying people, transporting goods, or performing specific construction work, such as a general transport vehicle, a specialized vehicle, a special-purpose vehicle, and other similar vehicles. As shown in Figure 7, the vehicle comprises at least one radar 41, at least one camera 42, at least one processor 43, a memory 44 connected to at least one processor, an input device 45, and an output device 46. In Figure 7, one radar 41, one camera 42, and one processor 43 are used as an example, and 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 Figure 7, they are connected by a bus as an example.

[0070] The 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 angle of a diagonal parking space in the embodiment of the present application. The processor 43 executes various vehicle function applications and data processing by executing the software programs, instructions and modules stored in the memory 44, thereby realizing the above-described method for determining the angle of a diagonal parking space.

[0071] Memory 44 may primarily comprise a program storage area capable of storing an operating system and application programs necessary for at least one function, and a data storage area capable of storing data created through terminal use, etc. Memory 44 may also include high-speed random-access memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 44 may further include memory remotely provided to the processor 43, and these remote memories may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0073] Various embodiments of the systems and technologies described herein can be implemented as digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), composite programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementing one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which may be a dedicated 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 transmits data and instructions to the storage system, at least one input device, and at least one output device.

[0074] Computer programs for carrying out the methods of the present invention can be coded in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a dedicated computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations defined in the flowcharts and / or block diagrams are performed. The computer programs may run entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0075] In the specification of this application, a computer-readable storage medium may be a tangible medium that contains or stores computer programs used in instruction execution systems, apparatuses or devices, or computer programs used in combination with instruction execution systems, apparatuses or devices. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. Further specific examples of machine-readable storage media include one or more wire-based electrical connections, 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 thereof.

[0076] The systems and technologies described herein can be implemented in a vehicle having a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) and a keyboard and pointing device (e.g., a mouse or trackball) in order to provide interaction with the user, and the user can provide input to the vehicle using the keyboard and its pointing device. Other types of devices may be used to provide interaction with the user, for example, the feedback provided to the user may be any form of sensing feedback (e.g., visual feedback, auditory feedback, or haptic feedback), and input from the user may be received in any form (including sound input, voice input, or haptic input).

[0077] The systems and technologies described herein can be implemented in a computing system including background components (e.g., as a data server), a computing system including middleware components (e.g., an application server), a computing system including front-end components (e.g., a user computer having a graphical user interface or network browser, through which the user can interact with embodiments of the systems and technologies described herein), or in a computing system including 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] A computing system may include a client and a server. The client and server are generally geographically separated and typically interact via a communication network. The client-server relationship is generated by computer programs running on corresponding computers that have a client-server relationship with each other. To address the management difficulties and limited scalability inherent in traditional physical hosts and VPS services, the server may also be a cloud computing server, also known as a cloud host, which is a host product within a cloud computing service framework.

[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 herein may be performed in parallel, sequentially, or in a different order, as long as the expected results of the present invention are achieved, and is not limited herein.

Claims

1. To acquire environmental information of the vehicle, which is information related to the vehicle's escape from the diagonal parking space, among the surrounding environment of the vehicle, Based on the aforementioned environmental information, a first reference point and a second reference point are obtained, wherein the connecting line between the first reference point and the second reference point is parallel to the road. This includes 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, If the aforementioned environmental information includes obstacle information, obtaining the first and second reference points based on the aforementioned environmental information is: The radar scans for obstacles on both sides of the vehicle and obtains a set of point coordinates for the obstacles. This includes determining the first and second reference points based on the two points closest to the road from the set of point coordinates, Method for determining the angle of a diagonal parking space.

2. Determining the first and second reference points based on the two points closest to the road from the aforementioned point coordinate set is: Obtain the two points closest to the road from the aforementioned set of point coordinates, The first reference point is obtained by processing the point among the two points mentioned above that does not exist on the road edge, This includes, of the two points mentioned above, the point located on the road edge being designated as the second reference point, The method according to claim 1.

3. To obtain the first reference point by processing the point among the two aforementioned points that does not exist on the road edge, Of the two points mentioned above, the horizontal coordinate of the point not located on the road edge is translated by a predetermined distance in the direction away from the vehicle, This includes setting the point after translation as the first reference point, The method according to claim 2.

4. If the environmental information includes image information, obtaining a first reference point and a second reference point based on the environmental information is: The camera acquires image information of the surrounding environment of the vehicle, Based on the aforementioned image information, when it is recognized that there are parking lines on the vehicle's parking location and / or on both sides of the vehicle, the vision algorithm recognizes the two intersections of parking lines closest to the front of the vehicle in the image information, and the coordinates of the said intersections of parking lines. This includes setting the intersection points of the two parking space lines as the first reference point and the second reference point, respectively. The method according to claim 1.

5. Calculating the vehicle's exit angle based on the coordinates of the first and second reference points is: Based on inverse trigonometric functions, the angle between the line segment consisting of the first and second reference points and the vertical axis whose direction of location is the same as the direction of movement of the vehicle is calculated, This includes making the aforementioned angle the angle of the vehicle's exit from the parking lot, The method according to claim 1.

6. Before acquiring the environmental information of the aforementioned vehicle, The system determines whether or not automatic parking information for the vehicle exists, and if it does not exist, it performs an operation to acquire environmental information for the vehicle; and if it does exist, it determines the angle of the parking space when the vehicle enters the parking space based on the automatic parking information for the vehicle. The further includes determining the exit angle of the vehicle based on the angle of the parking space, The method according to claim 1.

7. An acquisition module for acquiring environmental information of the vehicle, which is information related to the vehicle's escape from a slanted 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 aforementioned environmental information, wherein the connecting line between the first reference point and the second reference point is parallel to the road, The system comprises a second determination module for determining the path angle at which the vehicle exits the diagonal parking space, based on the coordinates of the first and second reference points, If the environmental information includes obstacle information, the first decision module will A scanning unit for scanning for obstacles on both sides of the vehicle using radar and obtaining a set of point coordinates of the obstacles, The system comprises a determination unit for determining the first and second reference points based on the two points closest to the road from the set of point coordinates, A device for determining the path angle of a slanted parking space.

8. At least one radar, At least one camera, At least one processor, The system comprises a memory connected to at least one of the processors, The at least one radar and the at least one camera are communicated to the at least one processor and the memory. The memory stores a computer program that can be executed 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 method for determining the diagonal parking space path angle according to any one of claims 1 to 6. vehicle.

9. When executed by the processor, the computer instructions for realizing the method for determining the diagonal parking space path angle according to any one of claims 1 to 6 are stored. Computer-readable storage medium.

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