Method, device, vehicle, and storage medium for exiting a slanted parking space.

Abstract

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

Description

[Technical Field]

[0001] This application claims priority to the Chinese patent application No. 202310590218.6, filed with the China National Intellectual Property Administration on May 23, 2023, and all contents of the above application are incorporated herein by reference.

[0002] This application relates to the technology of intelligent driving, and more particularly to a method, apparatus, vehicle, and storage medium for exiting an inclined parking space. [Background technology]

[0003] Currently, general-purpose automated parking algorithms primarily use parking space identification algorithms to identify typical vertical and horizontal parking spaces, and then perform automated entry and exit based on the identified parking space type.

[0004] In related technologies, in vertical and horizontal exit scenarios, the exit method achieves the effect of exiting from a vertical or parallel parking space by calculating the relative orientation of the endpoint position based on the orientation at the time the exit is triggered.

[0005] However, in the case of diagonal parking spaces, because the parking spaces have different angles (45 degrees and 60 degrees, etc.), it is not possible to accurately capture exit scenes at different angles. If the method of directly calculating the orientation of the endpoint position based on the orientation at the time the conventional exit is triggered is used, there is a possibility that the vehicle may collide with or get caught on a vehicle parked in the parking space in the direction of exit during a diagonal exit, causing personal injury and economic loss. [Overview of the project] [Problems that the invention aims to solve]

[0006] This invention provides a method, apparatus, vehicle, and storage medium for exiting a parking space at an angle, which solves the problem of vehicles being prone to colliding with or getting caught on vehicles parked in the parking space in the direction of exit during angled exit, thereby improving parking performance, ensuring the safety of drivers and passengers, and avoiding economic losses. [Means for solving the problem]

[0007] According to one aspect of this application, A method for exiting a diagonal parking space, applicable to a vehicle currently parked in a diagonal parking space, wherein an obstructing vehicle is parked in an adjacent diagonal parking space on the exit side of the current diagonal parking space, To obtain the current parking space coordinates of the aforementioned diagonal parking space and the current vehicle coordinates of the aforementioned vehicle, The objective is to determine the compensation assist line for the current vehicle in the current slanted parking space, wherein the compensation assist line is perpendicular to the vehicle's longitudinal centerline and passes through the corner point of the first parking space in the current slanted parking space, and the corner point of the first parking space is the endpoint of the exit parking line in the current slanted parking space in the direction opposite to the exit direction of the current slanted parking space. Based on the current parking space coordinates and the current vehicle coordinates, the distance between the current vehicle and the compensation assist line is determined, and this distance is determined as the compensation distance for the current vehicle to exit the parking space. This includes controlling the current vehicle so that it moves by the aforementioned exit compensation distance before exiting the current diagonal parking space, This provides a method for exiting a parking space at an angle.

[0008] According to another aspect of this application, An exit device for a slanted parking space, applicable to a vehicle currently parked in a slanted parking space, and for which an obstructing vehicle is parked in an adjacent slanted parking space on the exit side of the current slanted parking space, A coordinate acquisition module for obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle, An assist line determination module for determining the compensation assist line for the current vehicle in the current slanted parking space, wherein the compensation assist line is perpendicular to the vehicle body's centerline in the vehicle length direction and passes through the corner point of the first parking space in the current slanted parking space, and the corner point of the first parking space is the parking space corner point of an obtuse angle formed by the exit parking line in the current slanted parking space, A distance determination module for determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the distance as the exit compensation distance so that the current vehicle does not come into contact with the obstructing vehicle when exiting the current diagonal parking space, The system includes a control module for controlling the current vehicle so that it moves by the aforementioned exit compensation distance before exiting the current diagonal parking space. To provide a vehicle exit device for slanted parking spaces.

[0009] According to another aspect of this application, At least one processor, The system comprises a memory connected to at least one of the processors, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor such that the at least one processor can perform the method for exiting an inclined parking space according to any embodiment of the present application. We will provide the vehicle.

[0010] According to another aspect of this application, When executed by the processor, computer instructions for realizing a method for exiting an inclined parking space according to any embodiment of the present application are stored. Provides computer-readable storage media. [Effects of the Invention]

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

Brief Description of the Drawings

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

[0013] [Figure 1] It is a flowchart of a method for outbound from a diagonal parking space according to Embodiment 1 of the present application. [Figure 2] It is a schematic diagram of a scene for outbound from a diagonal parking space. [Figure 3]This is a schematic diagram showing the relative positional relationship between an adjacent diagonal parking space and an adjacent vehicle. [Figure 4] This is a flowchart of the method for exiting a parking space at an angle according to Embodiment 2 of the present invention. [Figure 5] This is a schematic diagram showing the relative position of the vehicle to the current diagonal parking space. [Figure 6] This is a flowchart of the method for exiting a parking space at an angle according to Embodiment 3 of the present invention. [Figure 7] This is a schematic diagram of the current target position and orientation of a vehicle when exiting a diagonal parking space. [Figure 8] This is a schematic diagram of the structure of the vehicle exit device for an inclined parking space according to Embodiment 4 of the present invention. [Figure 9] This is a schematic diagram of the structure of a vehicle that realizes the method of exiting a slanted parking space according to the present invention. [Modes for carrying out the invention]

[0014] In order for those skilled in the art to better understand the embodiments of this application, the technical concepts in the embodiments of this application will be clearly and completely described below in conjunction with the drawings of the embodiments of this application. Clearly, the embodiments described are not all embodiments, but only a selection of embodiments of this application, and all other embodiments obtained by those skilled in the art without any creative work, according to the embodiments of this application, fall within the scope of protection of this application.

[0015] Furthermore, terms such as “First,” “Second,” “Third,” and “Fourth” in the specification, claims, and drawings of this application are for distinguishing similar subjects and are not required to describe a specific order or priority. It should be understood that the data used in this manner may be interchangeable in appropriate circumstances so that the embodiments of this application described herein may be carried out in an order other than that illustrated or described herein. Also, the terms “includes,” “has,” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units does not have to be limited to the steps or units explicitly described, and may include other steps or units that are not explicitly described or are specific to these processes, methods, products, or apparatus.

[0016] [Example 1] Figure 1 is a flowchart of a method for exiting an inclined parking space according to Embodiment 1 of the present invention. This embodiment applies when an obstructing vehicle is currently parked in an adjacent inclined parking space on the inclined side of the inclined parking space, and exit control is performed for a vehicle currently parked in the inclined parking space. This method can be performed by an exit device for the inclined parking space, which can be implemented in hardware and / or software form, and which can be installed on a vehicle currently parked in the inclined parking space.

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

[0018] In S110, the current parking space coordinates of the currently angled parking space and the current vehicle coordinates of the current vehicle are obtained.

[0019] Here, "current vehicle" refers to the vehicle subject to exit control, i.e., the vehicle that currently requires exit control. "Current diagonal parking space" refers to the diagonal parking space where the vehicle is currently located. "Current parking space coordinates" refers to the coordinates of the current parking space, and may include, for example, the coordinates of the four corner points of the current diagonal parking space. "Current vehicle coordinates" refers to the coordinates of the current vehicle, and may include, for example, the coordinates of the four corner points and the coordinates of the four wheels of the current vehicle. Furthermore, the coordinates of preset points on the vehicle, such as the rear axle center point, front axle center point, and front center point, may be calculated and obtained. Note that the current parking space coordinates and the current vehicle coordinates should both be coordinates in the same coordinate system.

[0020] As an example, Figure 2 is a schematic diagram of a scene where a vehicle is exiting a slanted parking space. As shown in Figure 2, vehicle 11 currently needs to exit the slanted parking space 12, and an obstructing vehicle is parked in the adjacent slanted parking space on the slanted side of the slanted parking space 12 (i.e., on the side of point A in Figure 2). A reference coordinate system is constructed, and the current vehicle coordinates (e.g., the coordinates of the rear axle center point O and the front center point Q of the current vehicle) and the current parking space coordinates (e.g., the coordinates of the endpoints A, B, C, and D of the current slanted parking space) are obtained in the reference coordinate system. For example, the world coordinate system may be established with the axle center point of the current vehicle 11 in the initial exit state (e.g., the rear axle center point O) as the origin, and the vehicle's longitudinal centerline (i.e., the line connecting the rear axle center point O and the front center point Q) as the X-axis, or the reference coordinate system may be established with point C of the current slanted parking space as the origin, and the parking space line BC as the X-axis.

[0021] Depending on the actual needs, other reference coordinate systems may be selected, and it can be understood that selecting an appropriate world coordinate system can simplify the computational complexity of subsequent calculations.

[0022] Specifically, the method for acquiring the current vehicle coordinates may be to acquire them when the vehicle enters the current diagonal parking space, store the current vehicle coordinates in the reference coordinate system, and acquire the stored current vehicle coordinates when the vehicle exits the space. The method for acquiring the current parking space coordinates may be to acquire the map coordinates of the current parking space using GPS positioning and a diagonal parking space map, convert the map coordinates of the current parking space to the reference coordinate system, and acquire the current parking space coordinates in the reference coordinate system.

[0023] The purpose of obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle in this step is to determine the relative positional relationship between the current vehicle and the current parking space, and to determine the distance that needs to be compensated for when controlling the vehicle's exit based on this relative positional relationship.

[0024] In S120, the compensation assist line for the current vehicle in the current diagonal parking space is determined. The compensation assist line is perpendicular to the centerline of the vehicle body in the vehicle length direction and passes through the corner point of the first parking space in the current diagonal parking space. The corner point of the first parking space is the endpoint of the exit parking space line in the current diagonal parking space, in the opposite direction to the exit direction of the current diagonal parking space.

[0025] Here, the vehicle's longitudinal centerline is the line connecting the rear axle center point and the front axle center point (or front center point) of the vehicle. The compensation assist line can be understood as an assist line created to determine the exit compensation distance. The exit parking space line is the parking space line in the current direction of parking of the vehicle in the current diagonal parking space, and the corner point of the first parking space is the obtuse angle parking space corner point formed by the exit parking space line in the current diagonal parking space. For example, in the scene of exiting a diagonal parking space shown in Figure 2, the exit parking space line is parking space line AB, the current exit direction from the diagonal parking space is towards endpoint A of the exit parking space line, and the corner point of the first parking space is endpoint B in the current diagonal parking space in the opposite direction to the exit direction of the exit parking space line AB, that is, the corner point B of the parking space is the corner point of the first parking space.

[0026] Specifically, a straight line is created passing through the corner point of the first parking space in the current diagonal parking space and perpendicular to the centerline of the vehicle's body in the longitudinal direction (or a straight line passing through the corner point of the first parking space in the current diagonal parking space and parallel to the centerline of the vehicle's body in the longitudinal direction), and this straight line is used as the compensatory assist line for the vehicle in the current diagonal parking space.

[0027] As an example, Figure 3 is a schematic diagram of the relative positional relationship between an adjacent slanted parking space and a vehicle. As shown in Figure 3, the current slanted parking space 12 and the current vehicle 11, a straight line is drawn passing through the corner point B of the first parking space of the current slanted parking space 12 and perpendicular to the longitudinal centerline OQ of the vehicle body of the current vehicle 11. There is a perpendicular point K between this straight line and the longitudinal centerline OQ of the vehicle body (or an extension of the longitudinal centerline OQ of the vehicle body), and thus the straight line BK is determined to be the compensatory assist line for the current vehicle 11 in the current slanted parking space 12.

[0028] As can be seen from Figure 3, the exit assist line BK is almost flush with the front of the obstructing vehicle 21 located in the adjacent slanted parking space 22. This step makes it easy and simple to determine the distance between the front of the current vehicle and the front of the obstructing vehicle by creating a compensation assist line for the current vehicle in the current slanted parking space, and to determine the distance that needs to be compensated when the current vehicle exits the current slanted parking space.

[0029] In S130, the distance between the current vehicle and the compensation assist line is determined based on the current parking space coordinates and the current vehicle coordinates, and this distance is determined as the vehicle's exit compensation distance.

[0030] Here, the exit compensation distance refers to the distance that needs to be compensated for when controlling the vehicle's exit, and can be understood as the distance the vehicle needs to move in the exit direction before exit control is initiated in order to avoid a collision with an obstructing vehicle.

[0031] Specifically, the distance between the current vehicle and the compensation assist line is determined as the vehicle's exit compensation distance. Since the direction of the vehicle's front is perpendicular to the compensation assist line, and the distance between any point on the vehicle's front and the compensation assist line is always equal, the distance between any point on the vehicle's front and the compensation assist line can be considered as the vehicle's exit compensation distance. For ease of calculation, as shown in Figure 3, in this embodiment of the present invention, the distance KQ between the center point Q of the vehicle's front and the compensation assist line BK is taken as the vehicle's exit compensation distance.

[0032] For example, as shown in Figure 3, the method for determining the exit compensation distance KQ may involve obtaining the coordinates of the vehicle head center point Q and the coordinates of the perpendicular point K on the vehicle body's longitudinal centerline OQ (or the extension of the vehicle body's longitudinal centerline OQ), and then determining the exit compensation distance KQ based on the coordinates of the vehicle head center point Q and the perpendicular point K. Alternatively, the exit compensation distance KP can also be obtained by a method for finding a plane geometric solution based on the geometric figure formed by the coordinates of each corner point A, B, C, and D of the current parking space in Figure 3, the rear axle center point O, the vehicle head center point Q, and the perpendicular point K. There may be multiple specific methods for finding a plane geometric solution, and the embodiment of this application is not limited to these.

[0033] This step allows for the calculation of the vehicle's exit compensation distance in a simple manner by defining the distance between the current vehicle and the set compensation assist line as the exit compensation distance.

[0034] In S140, the vehicle is controlled to move only the distance covered by the exit compensation distance before exiting the current diagonal parking space.

[0035] For example, a method for controlling the current vehicle to move by the exit compensation distance and then exit the current diagonal parking space may be a method of controlling the current vehicle to move by the exit compensation distance and then exit based on the stored entry route for the current vehicle to enter the current diagonal parking space, or a method of planning the exit route for the current vehicle based on the current vehicle's position and orientation after moving by the exit compensation distance and the expected position and orientation of the current vehicle after exiting the current diagonal parking space, and then controlling the current vehicle to exit the current diagonal parking space based on the planned exit route.

[0036] This step compensates the current vehicle for the exit compensation distance and controls the current vehicle to move to a position where it is nearly flush with the obstructing vehicle parked in the adjacent slanted parking space before exiting the current slanted parking space. This prevents the current vehicle from colliding with or getting caught on the obstructing vehicle parked in the adjacent slanted parking space on the slope side of the current slanted parking space due to a certain turning angle while exiting the current slanted parking space.

[0037] In the present invention's embodiment, the current parking space coordinates of the current slanted parking space and the current vehicle coordinates of the current vehicle are obtained, a compensation assist line for the current vehicle in the current slanted parking space is determined, the compensation assist line is perpendicular to the vehicle's longitudinal centerline and passes through the corner point of the first parking space in the current slanted parking space, the corner point of the first parking space is the endpoint of the exit parking frame line in the current slanted parking space in the opposite direction to the exit direction of the current slanted parking space, the distance between the current vehicle and the compensation assist line is determined based on the current parking space coordinates and the current vehicle coordinates, the distance is determined as the exit compensation distance for the current vehicle, the exit compensation distance is to prevent the current vehicle from coming into contact with an obstructing vehicle while exiting the current slanted parking space, and the current vehicle is controlled to move by the exit compensation distance before exiting the current slanted parking space. Currently, by controlling the vehicle to move to a position where it is nearly flush with an obstructing vehicle parked in an adjacent inclined parking space on the inclined side of the current inclined parking space before exiting the inclined parking space, the problem of the vehicle being prone to colliding with or getting stuck on a vehicle parked in the parking space in the direction of exit is solved, improving parking performance, ensuring the safety of the driver and passengers, and avoiding economic losses.

[0038] [Example 2] Figure 4 is a flowchart of the method for exiting an inclined parking space according to Embodiment 2 of the present invention, and this embodiment further limits the method for determining the "current vehicle exit compensation distance" in the above embodiment. As shown in Figure 4, the method includes the following steps.

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

[0040] In S220, the compensation assist line for the current vehicle in the current diagonal parking space is determined. The compensation assist line is perpendicular to the vehicle's longitudinal centerline and passes through the corner point of the first parking space in the current diagonal parking space. The corner point of the first parking space is the obtuse angle formed by the exit parking space line in the current diagonal parking space.

[0041] In S230, the current vehicle exit type is determined based on the current parking space coordinates and current vehicle coordinates.

[0042] Here, the current vehicle exit type may include front-end exit and rear-end exit. Front-end exit means that when the vehicle exits, the front of the vehicle is facing the direction of exit from the current diagonal parking space, and rear-end exit means that when the vehicle exits, the rear of the vehicle is facing the direction of exit from the current diagonal parking space.

[0043] For example, the method for determining the current vehicle exit type based on the current parking space coordinates and current vehicle coordinates may also be a method for determining the direction of the vehicle's front end based on the current parking space coordinates and current vehicle coordinates, and then determining the current vehicle exit type based on the direction of the vehicle's front end and the direction of entry or exit of the current diagonal parking space. Specifically, if the direction of the vehicle's front end matches the exit direction, the current exit type is determined to be a front-end exit, and if the direction of the vehicle's front end matches the entry direction, the current exit type is determined to be a rear-end exit. Furthermore, the method may also be a method for determining the direction of the vehicle's rear end based on the current parking space coordinates and current vehicle coordinates, and then determining the current vehicle exit type based on the direction of the rear end and the direction of entry or exit of the current diagonal parking space. Specifically, if the direction of the vehicle's rear end matches the exit direction, the current exit type is determined to be a rear-end exit, and if the direction of the vehicle's rear end matches the entry direction, the current exit type is determined to be a front-end exit.

[0044] In S240, the intersection distance between the first perpendicular point, which is the intersection of the vehicle's longitudinal centerline and the compensatory assist line, and the first intersection point, which is the intersection of the vehicle's longitudinal centerline and the exit parking space line, is determined.

[0045] Here, since the longitudinal centerline of the vehicle body is perpendicular to the compensatory assist line, the first perpendicular is the intersection of the longitudinal centerline of the vehicle body (or the extension of the longitudinal centerline of the vehicle body) and the compensatory assist line. The first intersection is the intersection of the longitudinal centerline of the vehicle body (or the extension of the longitudinal centerline of the vehicle body) and the exit parking space line.

[0046] Specifically, Figure 5 is a schematic diagram of the relative position between the current vehicle and the current diagonal parking space. As shown in Figure 5, the vehicle's longitudinal centerline OQ and the compensatory assist line BK intersect at point K on the extension of the vehicle's longitudinal centerline OQ; that is, the first perpendicular is point K. The first intersection is point P, which is the intersection of the extension of the vehicle's longitudinal centerline OQ and the exit parking space line AB. Thus, the distance to the intersection is equal to the length of KP.

[0047] In S250, if the exit type is vehicle-head exit, the first distance between the axle center point and the first intersection point, and the first center point distance between the vehicle-head center point and the axle center point are obtained, the first distance difference value between the first distance and the first center point distance is calculated, and the difference value between the first distance difference value and the intersection distance is determined as the interval distance.

[0048] Specifically, when a vehicle exits the parking lot, there are two types: exiting from the front of the vehicle and exiting from the rear of the vehicle. As shown in Figure 5, the distance KQ = QP - KP, and QP = OP - OQ (or QP = O'P - O'Q), where point O or point O' is the center point of the front axle or the center point of the rear axle of the vehicle. If the current vehicle exit type shown in Figure 5 is exiting from the front of the vehicle, point Q is the center point of the front of the vehicle, the first distance OP (or O'P) is the distance between the axle center point O (or O') and the first intersection point P, and the first center point distance OQ (or O'Q) is the distance between the axle center point O (or O') and the center point of the front of the vehicle Q. Thus, the first distance difference value QP is the difference between the first distance OP (or O'P) and the first center point distance OQ (or O'Q), the interval distance is the difference between the first distance difference value QP and the intersection distance KP, and the interval distance between the vehicle head center point and the compensatory assist line can be used to represent the current interval distance between the vehicle and the compensatory assist line.

[0049] In S260, if the exit type is rear exit, the first distance between the axle center point and the first intersection point, and the second center point distance between the rear center point and the axle center point are obtained, the second distance difference value between the first distance and the second center point distance is calculated, and the difference value between the second distance difference value and the intersection distance is determined as the interval distance.

[0050] As shown in Figure 5, if the current vehicle exit type is front-end exit, point Q is the rear center point, the first distance OP (or O'P) is the distance between the axle center point O (or O') and the first intersection point P, and the second center point distance OQ (or O'Q) is the distance between the axle center point O (or O') and the rear center point Q. Thus, the second distance difference value QP is the difference between the first distance OP (or O'P) and the second center point distance OQ (or O'Q), the distance between the rear center point and the compensatory assist line is the difference between the second distance difference value QP and the intersection distance KP, and the distance between the rear center point and the compensatory assist line can be used to represent the distance between the current vehicle and the compensatory assist line.

[0051] In S270, the interval distance is determined as the current vehicle's exit compensation distance.

[0052] Specifically, in a scenario where the vehicle is exiting the parking space head-first, the calculated distance between the center point of the vehicle's head and the compensation assist line is the vehicle's exit compensation distance. In a scenario where the vehicle is exiting the parking space tail-first, the calculated distance between the center point of the vehicle's tail and the compensation assist line is the vehicle's exit compensation distance.

[0053] In S280, the current vehicle is controlled to move only the distance covered by the exit compensation distance before exiting the current diagonal parking space.

[0054] In the present invention, the current parking space coordinates and current vehicle coordinates are obtained, a compensation assist line for the current vehicle in the current slanted parking space is determined, the compensation assist line is perpendicular to the vehicle's longitudinal centerline and passes through the corner point of the first parking space in the current slanted parking space, the corner point of the first parking space is the endpoint of the exit parking frame line in the current slanted parking space in the opposite direction to the exit direction of the current slanted parking space, the distance between the current vehicle and the compensation assist line is determined based on the current parking space coordinates, current vehicle coordinates and the vehicle's exit type, the distance is determined as the vehicle's exit compensation distance, and the vehicle is controlled to move by the exit compensation distance before exiting the current slanted parking space. Currently, by controlling the vehicle to move to a position where it is nearly flush with an obstructing vehicle parked in an adjacent inclined parking space on the inclined side of the current inclined parking space, and then exiting the current inclined parking space, the problem of the vehicle being prone to colliding with or getting caught on a vehicle parked in the parking space in the direction of exit during inclined exit is solved, improving parking performance, ensuring the safety of the driver and passengers, and avoiding economic losses.

[0055] As shown in Figure 5, while determining the intersection distance between the first perpendicular and the first intersection in step S240 above, it is difficult to accurately obtain the coordinates of the first perpendicular K and the first intersection P based on the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle, and to determine the intersection distance between the first perpendicular K and the first intersection P based on the coordinates of the first perpendicular K and the first intersection P.

[0056] Since point K is the perpendicular point between the compensation assist line KB and the current vehicle's longitudinal centerline OQ, and triangle PKB is a right triangle, based on the trigonometric relationships of a right triangle...

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[0057] Furthermore, when a vehicle is currently entering an inclined parking space, the vehicle body is generally positioned using the self-position estimation thread function, meaning that the vehicle is currently approximately parallel to the inclined parking space. When the vehicle is currently parallel to the inclined parking space, the longitudinal centerline of the vehicle body is parallel to the parking spaces on both sides of the inclined parking space, meaning that the compensation assist line is perpendicular to the longitudinal centerline of the vehicle body. Therefore, in one preferred embodiment, determining the intersection distance between the first perpendicular and the first intersection of S240 involves the following steps.

[0058] In S2421, the coordinates of the corner point of the second parking space and the angle cosine value of the second parking space are determined based on the current parking space coordinates. The corner point of the second parking space is the endpoint of the exit parking space line in the current diagonal parking space in the exit direction of the current diagonal parking space.

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

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

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

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

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

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[0064] Substituting the slope k into the coordinate equation of point R, we get the coordinates of point R, which is the foot of the perpendicular (R x ,R y ) can be calculated.

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

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

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

[0068] Specifically, as shown in Figure 5, the third distance is the length of the line segment OR between the axle center point O and the second perpendicular point R. Axle center point coordinates O(O x ,O y ) and the second perpendicular coordinate R(R x ,R y If the following is known, the second distance between the axle center point O and the second perpendicular point R is calculated as follows:

number

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

[0070] Specifically, as shown in Figure 5, the first perpendicular point K may also be called the intersection point of the vehicle's longitudinal centerline and the compensatory assist line. Therefore, the distance between the first perpendicular point K and the first intersection point P is the intersection distance, which is the length of the line segment KP between the first perpendicular point K and the first intersection point P.

[0071] As shown in Figure 5, KP is a right triangle.

number

number

number

[0072] Preferably, obtaining the first distance between the axle center point and the first intersection point is This includes determining a first distance between the axle center point and the first intersection point based on the third distance and the angle cosine value of the second parking space, in accordance with plane geometric laws.

[0073] Specifically, although the coordinates of the first intersection point P are unknown, the first distance OP is a right triangle.

number

number

[0074] Therefore, in this preferred embodiment, the compensation distance is as follows:

number

[0075] [Example 3] Figure 6 is a flowchart of the method for exiting an inclined parking space according to Embodiment 3 of the present invention, and this embodiment further limits the method of "exiting from the inclined parking space" in the above embodiment. As shown in Figure 6, the method includes the following steps.

[0076] In S310, the current parking space coordinates of the currently angled parking space and the current vehicle coordinates of the current vehicle are obtained.

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

[0078] In S330, the distance between the current vehicle and the compensation assist line is determined based on the current parking space coordinates and the current vehicle coordinates, and this distance is determined as the compensation distance for the vehicle to exit the parking space.

[0079] In S340, the current vehicle entry route is obtained, and it is predicted whether the vehicle will enter an adjacent diagonal parking space in the exit direction while exiting the current diagonal parking space according to the entry route.

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

[0081] Specifically, the system obtains the current vehicle's position at each point along the entry route when the vehicle exits the current diagonal parking space according to the entry route. Based on the vehicle's position at each point along the route, it compares the current parking space coordinates of the current diagonal parking space with the coordinates of the adjacent parking space in the exit direction. This determines whether the vehicle will enter the adjacent diagonal parking space beyond the current parking space while exiting the diagonal parking space according to the entry route. This enables the system to predict whether the vehicle may collide with an obstructing vehicle while exiting the diagonal parking space according to the entry route.

[0082] In S350, if the answer is NO (if the vehicle does not enter the adjacent diagonal parking space), the system controls the vehicle to move only the distance of the exit compensation distance, and then exit the current diagonal parking space according to the entry route.

[0083] Specifically, if the vehicle is currently exiting its current diagonal parking space according to the entry route and is not entering an adjacent diagonal parking space in the exit direction, this indicates that the vehicle will not collide with an obstructing vehicle parked in an adjacent diagonal parking space while exiting its current diagonal parking space according to the entry route. Therefore, the vehicle can be controlled to move a distance equal to the exit compensation distance before exiting its current diagonal parking space according to the entry route.

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

[0085] Here, the minimum lateral exit distance is the minimum lateral distance from an obstructing vehicle parked in an adjacent slanted parking space to ensure that the vehicle does not come into contact with the obstructing vehicle while exiting the parking space. Figure 7 is a schematic diagram of the target position and orientation of the current vehicle in a scene of exiting a slanted parking space. The distance L shown in Figure 7 is the minimum lateral exit distance.

[0086] Specifically, if the vehicle is currently exiting its current diagonal parking space according to its entry route and enters an adjacent diagonal parking space in the direction of exit, there is a possibility that the vehicle will collide with an obstructing vehicle parked in the adjacent diagonal parking space while exiting its current diagonal parking space according to its entry route. Therefore, the vehicle should not be controlled to move only the distance of the exit compensation distance and then exit the current diagonal parking space according to the entry route. The planned exit route needs to be re-determined.

[0087] The main idea behind determining the planned exit route is to obtain the initial position and orientation in the initial exit state and the target position and orientation in the completed exit state, and then determine the planned exit route based on the initial and target position and orientation. Here, the initial position and orientation in the initial exit state is the position and orientation after the vehicle has moved by the current vehicle's exit compensation distance. The target position and orientation is the position and orientation when the distance between the current vehicle and an obstructing vehicle parked in an adjacent diagonal parking space is the minimum exit measurement distance. Here, the minimum exit measurement distance can be calculated based on the exit compensation distance.

[0088] Preferably, the minimum lateral distance for exiting the current vehicle from the adjacent diagonal parking space is determined based on the exit compensation distance. If the aforementioned exit compensation distance is less than or equal to the guided distance, the sum of the aforementioned exit compensation distance and the guided distance shall be determined as the aforementioned minimum lateral exit distance. This includes determining the guided distance as the minimum lateral distance for exiting the vehicle if the exit compensation distance is greater than the guided distance.

[0089] Currently, in order to ensure that a vehicle does not come into contact with an obstructing vehicle parked in an adjacent diagonal parking space while exiting, it is preferable that the minimum lateral exit distance is not too small. At the same time, in order to reduce the vehicle's exit distance as much as possible and reduce interference with vehicles on the road outside the parking space or oncoming vehicles, it is not necessarily better for the minimum lateral exit distance to be as large as possible. Therefore, the minimum lateral exit distance is determined by comparing the exit compensation distance and the guided distance. Specifically, if the exit compensation distance is less than or equal to the guided distance, the sum of the exit compensation distance and the guided distance is determined as the minimum lateral exit distance. If the exit compensation distance is greater than the guided distance, the guided distance is determined as the minimum lateral exit distance.

[0090] In the present invention's embodiment, the current parking space coordinates of the current slanted parking space and the current vehicle coordinates of the current vehicle are obtained, the compensation assist line for the current vehicle in the current slanted parking space is determined, the compensation assist line is perpendicular to the vehicle's longitudinal centerline and passes through the corner point of the first parking space in the current slanted parking space, the corner point of the first parking space is the endpoint of the exit parking space line in the current slanted parking space in the opposite direction to the exit direction of the current slanted parking space, the distance between the current vehicle and the compensation assist line is determined based on the current parking space coordinates and the current vehicle coordinates, the distance is determined as the exit compensation distance of the current vehicle, and the entry path of the current vehicle is The system acquires and predicts whether the current vehicle will collide with an obstructing vehicle while exiting the current diagonal parking space according to the entry route. If the prediction is NO, it controls the current vehicle to move a distance equal to the exit compensation distance before exiting the current diagonal parking space according to the entry route. If the prediction is YES, it estimates the minimum lateral distance between the current vehicle and the obstructing vehicle upon completion of the exit based on the exit compensation distance, determines the planned exit route for the current vehicle based on the minimum lateral distance, and exits the current diagonal parking space according to the planned exit route, ensuring that the vehicle in the diagonal parking space does not collide with a vehicle in an adjacent parking space when exiting, thereby improving parking performance, ensuring the safety of the driver and passengers, and avoiding economic losses.

[0091] Preferably, determining the planned departure route of the current vehicle based on the minimum lateral distance and the departure compensation distance is To predict the target position and orientation of the current vehicle when the current vehicle is parallel to the exit parking line of the current diagonal parking space and the distance to the adjacent diagonal parking space satisfies the minimum lateral exit distance, To obtain the initial position and orientation of the current vehicle after moving by the aforementioned parking compensation distance, This includes determining the planned departure route of the current vehicle based on the initial position and orientation and the target position and orientation.

[0092] Specifically, when the vehicle moves out of the current diagonal parking space until it is parallel to the exit parking line of the current diagonal parking space, the vehicle is considered to have completed its exit. In this case, it is necessary to obtain the lateral distance between the current vehicle and the obstructing vehicle parked in the adjacent diagonal parking space, and to determine the position and orientation of the current vehicle as the target position and orientation when this lateral distance is the minimum lateral distance for exiting. The position and orientation of the current vehicle after moving the exit compensation distance is determined as the initial position and orientation, and by performing a route plan based on the initial position and orientation and the target position and orientation, the planned exit route for the current vehicle can be obtained.

[0093] [Example 4] Figure 8 is a schematic diagram of the structure of the vehicle exit device for an inclined parking space according to Embodiment 4 of the present application. As shown in Figure 8, the device is A coordinate acquisition module 410 for obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle, An assist line determination module 420 for determining the compensation assist line for the current vehicle in the current slanted parking space, wherein the compensation assist line is perpendicular to the centerline in the vehicle length direction of the vehicle body and passes through the corner point of the first parking space in the current slanted parking space, and the corner point of the first parking space is the parking space corner point of the obtuse angle formed by the exit parking line in the current slanted parking space, and the assist line determination module 420 A distance determination module 430 determines the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determines the distance as the exit compensation distance so that the current vehicle does not come into contact with the obstructing vehicle when exiting the current diagonal parking space, The system includes an exit control module 440 for controlling the current vehicle so that it moves by the aforementioned exit compensation distance before exiting the current diagonal parking space.

[0094] Preferably, the distance determination module 430 is An exit type determination unit for determining the exit type of the current vehicle based on the current parking space coordinates and the current vehicle coordinates, An intersection distance determination unit for determining the intersection distance between a first perpendicular point, which is the intersection of the vehicle body's longitudinal centerline and the compensation assist line, and a first intersection point, which is the intersection of the vehicle body's longitudinal centerline and the exit parking space line, If the exit type is vehicle-head exit, a first interval distance determination unit is provided to obtain the first distance between the axle center point and the first intersection point, and the first center point distance between the axle center point and the vehicle-head center point, calculate the first distance difference value between the first distance and the first center point distance, and determine the difference value between the first distance difference value and the intersection distance as the interval distance. The system includes, in the case where the vehicle exit type is vehicle exit from the rear, a second interval distance determination unit for determining the interval distance, which obtains a first distance between the axle center point and the first intersection point, and a second center point distance between the axle center point and the rear center point, calculates a second distance difference value between the first distance and the second center point distance, and determines the difference value between the second distance difference value and the intersection distance as the interval distance.

[0095] Preferably, the intersection distance determination unit is A parking space angle point determination subunit for determining the coordinates of the angle point of the second parking space and the angle cosine value of the second parking space based on the current parking space coordinates, wherein the angle point of the second parking space is the endpoint of the exit parking frame line in the current diagonal parking space in the exit direction of the current diagonal parking space, A second perpendicular point determination subunit for determining the coordinates of a second perpendicular point on a second perpendicular line based on the current parking space coordinates and the current vehicle coordinates, wherein the second perpendicular line is a line segment perpendicular to the exit parking space line of the current diagonal parking space at the axle center point of the current vehicle, and the second perpendicular point is the intersection of the second perpendicular line and the exit parking space line, A second distance determination subunit for determining the second distance between the corner point of the second parking space and the second perpendicular point on the exit parking space line, based on the coordinates of the corner point of the second parking space and the coordinates of the second perpendicular point on the exit parking space line, A third distance determination subunit for determining the third distance between the axle center point and the second perpendicular point based on the axle center point coordinates and the second perpendicular point coordinates, It includes an intersection distance determination subunit for determining the intersection distance between the first perpendicular and the first intersection point, based on the second distance, the third distance, and the angular cosine value of the second parking space, in accordance with plane geometric laws.

[0096] Preferably, the second interval distance determining unit is It includes a first distance determining subunit for determining a first distance between the axle center point and the first intersection point, based on the third distance and the angular cosine value of the second parking space, in accordance with plane geometric laws.

[0097] Preferably, the inventory control module 440 is A vehicle entry route determination unit for obtaining the current vehicle entry route, A prediction unit for predicting whether the vehicle will enter an adjacent diagonal parking space in the exit direction while exiting the current diagonal parking space according to the entry route, If NO (if the vehicle does not enter the adjacent diagonal parking space), a first exit control unit controls the current vehicle to move the vehicle by the aforementioned exit compensation distance and then exit the current diagonal parking space according to the aforementioned entry route. If YES (when entering an adjacent diagonal parking space), the system includes a second exit control unit that determines the minimum lateral exit distance between the current vehicle and the adjacent diagonal parking space based on the exit compensation distance, determines the planned exit route for the current vehicle based on the minimum lateral distance and the exit compensation distance, and exits the vehicle from the current diagonal parking space based on the planned exit route.

[0098] Preferably, the second inventory control unit specifically, To predict the target position and orientation of the current vehicle when the current vehicle is parallel to the exit parking line of the current diagonal parking space and the distance to the adjacent diagonal parking space satisfies the minimum lateral exit distance, To obtain the initial position and orientation of the current vehicle after moving by the aforementioned parking compensation distance, It is used to determine the planned departure route of the current vehicle based on the initial position and orientation and the target position and orientation.

[0099] Preferably, the second inventory control unit further includes: If the aforementioned exit compensation distance is less than or equal to the guided distance, the sum of the aforementioned exit compensation distance and the guided distance shall be determined as the minimum lateral distance. This is used to determine the minimum lateral distance when the aforementioned parking compensation distance is greater than the aforementioned guided distance.

[0100] The vehicle exit device for an inclined parking space according to an embodiment of the present invention can perform the vehicle exit method for an inclined parking space according to any embodiment of the present invention, and is equipped with a functional module and beneficial effects corresponding to the performance of the method.

[0101] [Example 5] Figure 9 shows a schematic diagram of the structure of a vehicle 10 that can be used to carry out an embodiment of the present application. The components shown herein, their connections, relationships, and functions are illustrative and do not limit the implementation of the present application described and / or required herein.

[0102] As shown in Figure 9, the vehicle 10 comprises at least one processor 11 and memory communicated to at least one processor 11, such as read-only memory (ROM) 12 and random access memory (RAM) 13, where the memory stores computer programs executable by at least one processor, and the processor 11 can perform various appropriate operations and processes based on the computer programs stored in the read-only memory (ROM) 12 or computer programs loaded into the random access memory (RAM) 13 from the storage unit 18. The RAM 13 may store various programs and data necessary for the operation of the vehicle 10. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

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

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

[0106] Various embodiments of the systems and technologies described in this paper 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), system-on-a-chip systems (SOCs), composite programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: one or more computer programs that can be executed and / or interpreted on a programmable system including 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, the at least one input device, and the at least one output device.

[0107] Computer programs for carrying out the method 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 flowchart and / or block diagram are performed. The computer program may run entirely on the device, partially on the device, as a standalone software package partially on the device and partially on a remote device, or entirely on a remote device or server.

[0108] In the specification of this application, a computer-readable storage medium may be a tangible medium that contains or stores computer programs used in or in conjunction with an instruction execution system, apparatus or vehicle. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus or vehicles, or any suitable combination thereof. A computer-readable storage medium may also be an instrument-readable signal medium. Further specific examples of instrument-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 disc read-only disks (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0109] To provide user interaction, the systems and technologies described herein can be implemented in a vehicle, which includes 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 directional devices (e.g., a mouse or trackball) through which the user can provide input to the vehicle. Other types of devices can be used to further provide user interaction. 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).

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

[0111] A computing system may include clients and servers. Clients and servers 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. A server may be a cloud server, also called a cloud computing server or cloud host, which is a host product in a cloud computing service scheme and is used to solve the shortcomings of traditional physical host and VPS services, such as difficulty in management and poor traffic scalability.

[0112] It should be understood that steps can be rearranged, added, or deleted using the various forms of flows described above. For example, each step described in this application may be performed in parallel, sequentially, or in a different order, as long as the desired results of the proposed technology are achieved, this paper is not limited thereto.

Claims

1. A method for exiting an inclined parking space, applicable to a vehicle currently parked in the inclined parking space, and wherein an obstructing vehicle is parked in an adjacent inclined parking space on the exit side of the currently parked inclined parking space. To obtain the current parking space coordinates of the aforementioned diagonal parking space and the current vehicle coordinates of the aforementioned vehicle, The objective is to determine the compensation assist line for the current vehicle in the current slanted parking space, wherein the compensation assist line is perpendicular to the vehicle's longitudinal centerline and passes through the corner point of the first parking space in the current slanted parking space, and the corner point of the first parking space is the endpoint of the exit parking frame line in the current slanted parking space in the direction opposite to the exit direction of the current slanted parking space. Based on the current parking space coordinates and the current vehicle coordinates, the distance between the current vehicle and the compensation assist line is determined, and this distance is determined as the compensation distance for the current vehicle to exit the parking space. This includes controlling the current vehicle so that it moves by the aforementioned exit compensation distance before exiting the current diagonal parking space, How to exit a parking space at an angle.

2. Determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates is, Based on the current parking space coordinates and the current vehicle coordinates, the type of vehicle exit is determined. Determine the intersection distance between the first perpendicular point, which is the intersection of the vehicle body's longitudinal centerline and the aforementioned compensation assist line, and the first intersection point, which is the intersection of the vehicle body's longitudinal centerline and the exit parking space line. If the exit type is vehicle-head exit, the first distance between the axle center point and the first intersection point, and the first center point distance between the axle center point and the vehicle-head center point are obtained, the first distance difference value between the first distance and the first center point distance is calculated, and the difference value between the first distance difference value and the intersection distance is determined as the interval distance. If the exit type is rear exit, the first distance between the axle center point and the first intersection point, and the second center point distance between the axle center point and the rear center point are obtained, the second distance difference value between the first distance and the second center point distance is calculated, and the difference value between the second distance difference value and the intersection distance is determined as the interval distance. The method according to claim 1.

3. Determining the intersection distance between the first vertical point and the first intersection point is, The coordinates of the corner point of the second parking space and the angle cosine value of the second parking space are determined based on the current parking space coordinates, wherein the corner point of the second parking space is the endpoint of the exit parking space line in the current diagonal parking space in the exit direction of the current diagonal parking space. The second perpendicular is determined based on the current parking space coordinates and the current vehicle coordinates, wherein the second perpendicular is a line segment perpendicular to the exit parking space line of the current diagonal parking space, and the second perpendicular is the intersection point of the second perpendicular and the exit parking space line. Based on the coordinates of the corner point of the second parking space and the coordinates of the second perpendicular point on the exit parking space line, the second distance between the corner point of the second parking space and the second perpendicular point is determined, The third distance between the axle center point and the second perpendicular point is determined based on the axle center point coordinates and the second perpendicular point coordinates, This includes determining the intersection distance between the first perpendicular and the first intersection point based on the second distance, the third distance, and the angular cosine value of the second parking space, in accordance with plane geometric laws. The method according to claim 2.

4. Obtaining the first distance between the axle center point and the first intersection point is: This includes determining the first distance between the axle center point and the first intersection point based on the third distance and the angle cosine value of the second parking space, in accordance with plane geometric laws. The method according to claim 3.

5. Controlling the current vehicle so that it moves by the aforementioned exit compensation distance before exiting the current diagonal parking space is, To obtain the vehicle's current entry route, To predict whether the current vehicle will enter an adjacent diagonal parking space in the direction of exit while exiting the current diagonal parking space according to the entry route, If the vehicle does not enter the adjacent diagonal parking space, the current vehicle is controlled to move the distance corresponding to the exit compensation distance and then exit the current diagonal parking space according to the entry route. When entering the adjacent diagonal parking space, the minimum lateral exit distance between the current vehicle and the adjacent diagonal parking space is determined based on the exit compensation distance, the planned exit route for the current vehicle is determined based on the minimum lateral exit distance and the exit compensation distance, and the vehicle exits the current diagonal parking space based on the planned exit route. The method according to claim 1.

6. Determining the planned departure route for the current vehicle based on the minimum lateral departure distance and the compensation departure distance is, To predict the target position and orientation of the current vehicle when the current vehicle is parallel to the exit parking line of the current diagonal parking space and the distance to the adjacent diagonal parking space satisfies the minimum lateral exit distance, To obtain the initial position and orientation of the current vehicle after moving by the aforementioned parking compensation distance, This includes determining the planned departure route of the current vehicle based on the initial position and the target position, The method according to claim 5.

7. Determining the minimum lateral distance for exiting between the current vehicle and the adjacent diagonal parking space based on the aforementioned exit compensation distance is: If the aforementioned exit compensation distance is less than or equal to the guided distance, the sum of the aforementioned exit compensation distance and the guided distance shall be determined as the aforementioned minimum lateral exit distance. If the aforementioned exit compensation distance is greater than the aforementioned guided distance, the guided distance is determined to be the minimum lateral exit distance, and this includes the following: The method according to claim 5.

8. An exit device for an inclined parking space, which applies to a vehicle currently parked in the inclined parking space, and which also applies when an obstructing vehicle is parked in an adjacent inclined parking space on the exit side of the current inclined parking space. A coordinate acquisition module for obtaining the current parking space coordinates of the current diagonal parking space and the current vehicle coordinates of the current vehicle, An assist line determination module for determining the compensation assist line for the current vehicle in the current slanted parking space, wherein the compensation assist line is perpendicular to the centerline in the vehicle length direction of the vehicle body, passes through the corner point of the first parking space in the current slanted parking space, and the corner point of the first parking space is the parking space corner point of an obtuse angle formed by the exit parking line in the current slanted parking space, A distance determination module for determining the distance between the current vehicle and the compensation assist line based on the current parking space coordinates and the current vehicle coordinates, and determining the distance as the exit compensation distance so that the current vehicle does not come into contact with the obstructing vehicle when exiting the current diagonal parking space, The system includes an exit control module for controlling the current vehicle so that it moves by the aforementioned exit compensation distance before exiting the current diagonal parking space. A vehicle exit device for diagonally parked spaces.

9. At least one processor, The system comprises a memory connected to at least one of the processors, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor such that the at least one processor can perform the method for exiting an inclined parking space described in any one of claims 1 to 7. vehicle.

10. When executed by the processor, a computer instruction for realizing the method of exiting an inclined parking space according to any one of claims 1 to 7 is stored. Computer-readable storage medium.

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