Autonomous driving and parking method and apparatus, and electronic device and storage medium

Abstract

An autonomous driving and parking method and apparatus, and an electronic device and a storage medium. The method comprises: acquiring a parking traveling environment, and detecting a boundary facility of the parking traveling environment; determining a path reference line according to the boundary facility and / or a pre-traveling learning path; and determining an autonomous driving and parking route on the basis of the path reference line and a preset path widening dimension, so that the automation stability, safety and accuracy of a vehicle are improved.

Description

Automatic driving and parking method, device, electronic device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 2023108070143 filed with the China Patent Office on July 3, 2023, entitled “Methods, devices, electronic devices and storage media for automatic driving and parking”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device, and storage medium for automatic driving and parking. Background Art

[0004] Currently, the parking method for a vehicle is usually user-operated parking or the vehicle performs automatic parking. In the related art, (1) when the user operates the parking, the planned parking path will be displayed. However, the planned path is usually a direction guide determined by the direction of the steering wheel. When there are obstacles around the vehicle, the direction guide line will still be displayed. If the user is not careful, the obstacle may be hit; (2) when the vehicle performs automatic parking, the user usually drives the vehicle to the vicinity of the parking space and activates the automatic parking function to automatically park the vehicle in the space. However, this method requires the user to drive to the side of the parking space, and the degree of manual intervention is still high, and the degree of parking automation is low.

[0005] In summary, current vehicle parking has problems such as low degree of automation, poor parking safety and accuracy.

[0006] Application Contents

[0007] The purpose of this application includes providing a method, device, electronic device and storage medium for automatic driving and parking to alleviate at least one technical problem of current vehicle parking, namely, low degree of automation, poor parking safety and accuracy.

[0008] In a first aspect, the present application provides a method for automatic driving and parking, comprising: acquiring a parking driving environment and detecting boundary facilities of the parking driving environment; determining a path reference line based on the boundary facilities and / or a previously learned path; and determining an automatic driving and parking route based on the path reference line and a preset path widening dimension.

[0009] In an optional embodiment, determining a route reference line based on boundary facilities and / or a previously traveled learned route includes:

[0010] Determining a reference point based on a positional relationship between the boundary facility and the vehicle's travel direction, and / or the previously learned travel path;

[0011] A path reference line is determined according to the reference point.

[0012] In an optional embodiment, the reference point includes a center point; and determining a path reference line based on boundary facilities and / or a previously traveled learned path includes:

[0013] Determine whether there are boundary facilities on both sides of the vehicle along the direction of travel in a parking environment; boundary facilities include at least one or more of parking spaces, road lines, curbs, and walls; if boundary facilities exist on both sides along the direction of travel of the vehicle, determine the center point based on the boundary facilities, and determine the center line obtained by connecting the center points as the path reference line.

[0014] In an optional embodiment, the reference point includes a track point; and determining a path reference line based on a boundary facility and / or a previously traveled learned path includes:

[0015] If there are boundary facilities on one side of the vehicle's travel direction, or if there are no boundary facilities on both sides of the vehicle's travel direction, the trajectory points are determined based on the previously learned path, and the trajectory line obtained by connecting the trajectory points is determined as the path reference line.

[0016] In an optional embodiment, determining a route reference line based on boundary facilities and / or a previously traveled learned route includes:

[0017] When the road sections in the parking driving environment include at least one of sections where there are boundary facilities on both sides along the driving direction of the vehicle body, and sections where there are boundary facilities on one side along the driving direction of the vehicle body, or sections where there are no boundary facilities on both sides along the driving direction of the vehicle body, chamfer fitting processing is performed on the intersection of the center line and the trajectory line to obtain a fitting line; and the fitting line is determined as the path reference line.

[0018] In an optional embodiment, determining an automatic driving and parking route based on a path reference line and a preset path widening dimension includes:

[0019] The path reference line is widened according to a preset path widening dimension along the path reference line, and the automatic driving and parking route is determined based on the contour line after the widening process.

[0020] In an optional embodiment, determining an automatic driving and parking route based on a path reference line and a preset path widening dimension includes:

[0021] A widening coefficient is determined based on the vehicle type; and an automatic driving and parking route is determined based on the path reference line, the widening coefficient, and the path widening dimension.

[0022] In an optional embodiment, the automatic driving and parking route is a memorized parking route; the method further includes:

[0023] The memory parking route is displayed, and in response to confirmation of the memory parking route, memory parking is performed according to the memory parking route.

[0024] In a second aspect, the present application provides an automatic driving and parking device, comprising: an environment monitoring module configured to obtain a parking driving environment and detect boundary facilities of the parking driving environment; a path reference determination module configured to determine a path reference line based on boundary facilities and / or a previously learned path; and a route determination module configured to determine an automatic driving and parking route based on the path reference line and a preset path widening dimension.

[0025] In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the automatic driving and parking method of any one of the aforementioned embodiments.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the automatic driving and parking method of any one of the aforementioned embodiments.

[0027] The automated driving and parking method, apparatus, electronic device, and storage medium provided in this application first acquire a parking environment and detect boundary facilities within the parking environment. A path reference line is then determined based on the boundary facilities and / or a previously learned path. Finally, an automated driving and parking route is determined based on the path reference line and a preset path widening dimension. This method enables a vehicle to begin fully automated automated driving and parking at a designated location according to a determined automated driving and parking route, thereby enhancing the user's automated driving and parking experience. By using the boundary facilities of the parking environment and a previously learned path as references to determine the path reference line, the vehicle's trajectory during automated driving and parking can be made more accurate and secure, thereby improving the stability, safety, and accuracy of vehicle automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] FIG1 is a flow chart of an automatic driving and parking method provided by an embodiment of the present application;

[0030] FIG2 is a schematic diagram of a path reference line provided in an embodiment of the present application;

[0031] FIG3 is a schematic diagram of a path reference determination provided by an embodiment of the present application;

[0032] FIG4 is a schematic diagram of another path reference determination provided by an embodiment of the present application;

[0033] FIG5 is a schematic diagram of a fitting line provided in an embodiment of the present application;

[0034] FIG6 is a schematic diagram of another fitting line provided in an embodiment of the present application;

[0035] FIG7 is a structural diagram of an automatic driving and parking device provided in an embodiment of the present application;

[0036] FIG8 is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0040] The present invention provides a method for automatic driving and parking, as shown in FIG1 . The method mainly includes the following steps:

[0041] Step S110 : acquiring a parking environment and detecting boundary facilities of the parking environment.

[0042] Optionally, the parking driving environment includes a driving road, which may include straight roads, curved roads, turning roads, and other driving roads. For example, the driving road may include the entire road section from the entrance of a residential complex to a certain parking space, the entire road section from the entrance of a parking lot to a certain parking space, or the entire road section from a certain location to a certain parking space.

[0043] Optionally, the boundary facilities of the above-mentioned parking driving environment refer to the boundary facilities on both sides of the road during driving, such as parking spaces, road lines, curbs, walls, etc. By monitoring the boundary facilities, the driving direction and driving range of the vehicle during parking can be determined.

[0044] Step S120 : determining a path reference line based on boundary facilities and / or a previously learned path.

[0045] The learned route traveled in advance is a route for driving the vehicle in the automatic driving and parking section, or a route for driving the vehicle in the entire area where automatic driving and parking are required.

[0046] Considering that in the actual driving environment, there may be boundary facilities on both the left and right sides of the vehicle, there may be boundary facilities on only one side of the vehicle, or there may be no boundary facilities around the vehicle, the path reference line can be determined by different references for different situations.

[0047] In one embodiment, for the case where there are boundary facilities on both the left and right sides of the vehicle, the boundary facilities can be used to determine the path reference line; for the case where there are boundary facilities on one side of the vehicle or there are no boundary facilities around the vehicle, a pre-learned path can be used to determine the path reference line; when the entire driving road includes sections with boundary facilities on both the left and right sides of the vehicle, and sections with boundary facilities on one side of the vehicle or no boundary facilities around the vehicle, the path reference line is determined by combining the boundary facilities and the pre-learned path.

[0048] Step S130 : determining an automatic driving and parking route based on the path reference line and a preset path widening dimension.

[0049] To facilitate ensuring that the vehicle can safely drive from automatic driving to automatic parking and accurately park in a pre-selected parking space, in one embodiment, a path reference line can be used as the center line, and the path reference line can be widened according to a preset path widening dimension. For example, the path reference line can be widened by 1.5 meters to the left and right to determine the widened end edge lines, and the widened end edge lines are used to determine the automatic driving and parking routes, so that the vehicle can automatically drive and park within the end edge lines, as shown in Figure 2.

[0050] The automatic driving and parking method provided in the embodiment of the present application can enable a vehicle to start automatic driving and parking at a designated location in accordance with a determined automatic driving and parking route and perform fully automated processing, thereby improving the user's automated driving and parking experience; by using the boundary facilities of the parking driving environment and the previously learned path as a reference to determine the path reference line, the vehicle's movement trajectory during automatic driving and automatic parking can be made more accurate and safe, thereby improving the stability, safety and accuracy of vehicle automation.

[0051] The following is a detailed description of the automatic driving and parking method provided in the embodiments of the present application.

[0052] In one embodiment, when entering automatic driving and parking, the driver can trigger the central control screen, the steering wheel buttons, the instrument screen, or voice interaction to make the vehicle enter the automatic driving and parking function. At this time, the driver releases the brake to enter automatic driving and parking.

[0053] Considering the diversity of actual driving and parking environments, the aforementioned method for determining a path reference line based on boundary facilities and / or pre-learned paths can be selected based on different circumstances. In one optional embodiment, reference points can be determined based on the positional relationship between the boundary facility's location and the vehicle's travel direction, and / or a pre-learned path; and the path reference line can be determined based on these reference points. This method allows for the determination of corresponding reference points for different boundary facility locations and vehicle travel directions, thereby enabling the determination of the path reference line for each specific situation. This improves the accuracy of the path reference line determined for different boundary facility locations and vehicle travel directions.

[0054] Optionally, in one embodiment, it can be determined first whether there are boundary facilities on both sides of the vehicle along the direction of travel in a parking environment; boundary facilities include at least one or more of parking spaces, road lines, curbs, and walls; if there are boundary facilities on both sides along the direction of travel of the vehicle, the center point is determined based on the boundary facilities, and the center line obtained by connecting the center points is determined as the path reference line.

[0055] In the case of parking environments where there are boundary facilities on both sides of the vehicle's travel direction, the path reference line is determined by the center point. Figure 3 shows three examples: when there are parking spaces on both sides of the road, when there are walls / curb on both sides, and when there is a wall / curb on one side and a parking space on the other side. In this case, the center point is drawn according to the boundary on both sides, and a line connecting the center points is used as the center line. This center line is the path reference line.

[0056] Alternatively, if there are boundary facilities on one side of the vehicle's travel direction, or if there are no boundary facilities on either side, track points can be determined based on a previously learned path, and a track line formed by connecting the track points can be used as a path reference line. The absence of boundary facilities on either side of the vehicle's travel direction can be understood as the vehicle being in an open area with no roadside references.

[0057] FIG4 shows a situation where there is a parking space reference on one side and no boundary facilities on the other side. In this case, the vehicle can be driven in advance for driving learning, and the trajectory line of the vehicle during learning is used as the path reference line.

[0058] In actual applications, the entire automatic driving or parking path may have boundary facilities on both sides, boundary facilities on one side, or no boundary facilities on both sides. That is, when the road section in the parking driving environment includes at least one of a section with boundary facilities on both sides along the driving direction of the vehicle body, a section with boundary facilities on one side along the driving direction of the vehicle body, or a section with no boundary facilities on both sides along the driving direction of the vehicle body, a chamfer fitting process is performed on the intersection of the center line and the trajectory line to obtain a fitting line, and the fitting line is determined as the path reference line.

[0059] In one example, when part of a route is drawn using centerlines and part using tracklines, the centerlines and tracklines are fitted as shown in Figure 5 to create a fitted line, making the route smoother and meeting vehicle driving requirements. To address the uneven intersection of the two centerlines, chamfer fitting can be performed at the corners, as shown in Figure 6, to achieve a smoother route for automated driving and parking.

[0060] Furthermore, after determining the path reference line, an automated driving and parking route is determined based on the path reference line and a preset path widening dimension. The path reference line can be widened along the path reference line according to the preset path widening dimension, and the automated driving and parking route is determined based on the resulting widened contour line. In practical applications, the resulting widened contour line may include two lines on the left and right sides of the vehicle body, which are used to constrain the vehicle's position during driving and parking. The vehicle travels within the boundaries of these two contour lines, ensuring driving safety.

[0061] In one example, the path widening dimension can be a fixed width, for example, 1.5 meters wide on each side based on the path reference line. In actual applications, the value can also be adaptively adjusted according to the actual width of the road.

[0062] Optionally, in order to adapt to the automatic driving and parking of different types of vehicles so that all types of vehicles can perform automatic driving and automatic parking safely and stably, the above-mentioned automatic driving and parking route is determined based on the path reference line and the preset path widening dimension, and the widening coefficient can be determined in advance based on the vehicle type; the automatic driving and parking route is determined according to the path reference line, the widening coefficient and the path widening dimension.

[0063] For example, the widening coefficients can be adjusted for small, medium, large, and extra-large vehicles, respectively, such as 0.8, 1.0, 1.2, and 1.4. In one embodiment, the widening coefficient multiplied by the path widening dimension can be determined as the distance widened to both sides with the path reference line as the centerline. The larger the widening coefficient, the larger the value of the widening coefficient multiplied by the path widening dimension. For example, when the path widening dimension is 1.5 meters, the widening coefficient is 1.2, and the path widening dimension can be 1.5×1.2=1.8 meters on both sides of the path reference line.

[0064] In this way, the safety and accuracy of automatic driving and automatic parking can be guaranteed for vehicles of different models.

[0065] Furthermore, the automated driving and parking routes determined in this application can be applied to memory parking scenarios. Memory Parking Assist (MPA) can be considered low-speed automated driving and parking within a specific area (such as a residential complex or parking lot). It can be used to automatically cruise into a parking space or automatically exit a parking space and cruise to an exit point according to a historically memorized route. After determining the memorized parking route, the memorized parking route can be displayed, and in response to confirmation of the memorized parking route, memory parking can be performed according to the memorized parking route.

[0066] In summary, the embodiments of the present application can enable a vehicle to start fully automated driving and parking at a designated location according to a determined automatic driving and parking route, thereby improving the user's automated driving and parking experience; by determining the path reference line with reference to the boundary facilities of the parking driving environment and the pre-learned path, the vehicle's movement trajectory during automatic driving and automatic parking can be made more accurate and safe, thereby improving the stability, safety and accuracy of vehicle automation.

[0067] Based on the above method embodiment, the present application also provides an automatic driving and parking device, as shown in FIG7 , which mainly includes the following parts:

[0068] An environment monitoring module 710 is configured to obtain a parking environment and detect boundary facilities of the parking environment;

[0069] a route reference determination module 720 configured to determine a route reference line based on boundary facilities and / or a previously traveled learned route;

[0070] The route determination module 730 is configured to determine an automatic driving and parking route based on a path reference line and a preset path widening dimension.

[0071] In a feasible implementation manner, the reference point includes a center point; the path reference determination module 720 includes:

[0072] a reference point determination unit configured to determine a reference point based on a positional relationship between the location of the boundary facility and the driving direction of the vehicle body, and / or the previously learned path;

[0073] The path reference line determining unit is configured to determine the path reference line according to the reference point.

[0074] In a feasible implementation, the reference point includes a trajectory point; the path reference determination module 720 includes:

[0075] a determination unit configured to determine whether there are boundary facilities on both sides of the vehicle along the vehicle's driving direction in a parking driving environment; the boundary facilities include at least one or more of parking spaces, road lines, curbs, and walls;

[0076] The first path reference line determination unit is configured to determine center points based on the boundary facilities when there are boundary facilities on both sides of the vehicle body along the traveling direction, and determine a center line obtained by connecting the center points as the path reference line.

[0077] In a feasible implementation manner, the path reference determination module 720 includes:

[0078] The second path reference line determination unit is configured to determine trajectory points based on a previously learned path when there are boundary facilities on one side along the direction of travel of the vehicle body, or when there are no boundary facilities on both sides along the direction of travel of the vehicle body, and determine a trajectory line obtained by connecting the trajectory points as the path reference line.

[0079] In a feasible implementation manner, the path reference determination module 720 includes:

[0080] The third path reference line determination unit is configured to, when a road section in the parking driving environment includes at least one of a section where there are boundary facilities on both sides along the driving direction of the vehicle body, a section where there are boundary facilities on one side along the driving direction of the vehicle body, or a section where there are no boundary facilities on both sides along the driving direction of the vehicle body, perform chamfer fitting processing on the intersection of the center line and the trajectory line to obtain a fitting line; and determine the fitting line as the path reference line.

[0081] In a feasible implementation, the route determination module 730 includes:

[0082] The path dimension widening unit is configured to widen the path reference line according to a preset path widening dimension along the path reference line, and determine the automatic driving and parking route based on the contour line after the widening process.

[0083] In a feasible implementation, the route determination module 730 includes:

[0084] a widening coefficient determining unit configured to determine a widening coefficient based on a vehicle type;

[0085] The route determination unit is configured to determine an automatic driving and parking route according to the path reference line, the widening coefficient, and the path widening dimension.

[0086] In a feasible embodiment, the automatic driving and parking route is a memorized parking route; the above-mentioned device further includes:

[0087] The memory parking module is configured to display a memory parking route and, in response to confirmation of the memory parking route, perform memory parking according to the memory parking route.

[0088] The automatic driving and parking device provided in the embodiment of the present application has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for parts not mentioned in the embodiment of the automatic driving and parking device, reference may be made to the corresponding contents in the aforementioned automatic driving and parking method embodiment.

[0089] An embodiment of the present application also provides an electronic device, as shown in Figure 8, which is a structural diagram of the electronic device, wherein the electronic device 100 includes a processor 81 and a memory 80, and the memory 80 stores computer-executable instructions that can be executed by the processor 81. The processor 81 executes the computer-executable instructions to implement any of the above-mentioned automatic driving and parking methods.

[0090] Optionally, in actual application, the electronic device may be a vehicle that implements any of the above-mentioned automatic driving and parking methods, and the vehicle may include a pure electric vehicle, a hybrid electric vehicle, a fuel cell vehicle, etc.

[0091] In the embodiment shown in FIG. 8 , the electronic device further includes a bus 82 and a communication interface 83 , wherein the processor 81 , the communication interface 83 and the memory 80 are connected via the bus 82 .

[0092] The memory 80 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 83 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 82 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 82 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one bidirectional arrow is used in FIG8 , but this does not mean that there is only one bus or one type of bus.

[0093] The processor 81 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 81 or by software instructions. The above processor 81 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor 81 reads the information in the memory and combines its hardware to complete the steps of the automatic driving and parking method of the aforementioned embodiment.

[0094] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned automatic driving and parking method. The specific implementation can be found in the aforementioned method embodiment, which will not be repeated here.

[0095] The computer program product of the method, device, electronic device and storage medium for automatic driving and parking provided in the embodiments of the present application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. For specific implementation, please refer to the method embodiments and will not be repeated here.

[0096] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0097] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0098] In the description of this application, it should be noted that the terms "center", "up", "down", "left", "right", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the products of this application are usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0099] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application. Industrial Applicability:

[0101] By applying the technical solution of the present application, the vehicle can start to perform fully automated driving and parking according to a determined automatic driving and parking route at a designated location, thereby improving the user's automated driving and parking experience; by using the boundary facilities of the parking driving environment and the pre-learned path as a reference to determine the path reference line, the vehicle's movement trajectory during automatic driving and automatic parking can be made more accurate and safe, thereby improving the stability, safety and accuracy of vehicle automation.

Claims

1. A method for automatic driving and parking, characterized in that: include: Acquiring a parking driving environment and detecting boundary facilities of the parking driving environment; Determining a path reference line based on the boundary facilities and / or a previously traveled learned path; An automatic driving and parking route is determined based on the path reference line and a preset path widening dimension.

2. The method for automatic driving and parking according to claim 1, characterized in that: Determining a path reference line according to the boundary facilities and / or a previously traveled learning path includes: Determine a reference point according to a positional relationship between the setting position of the boundary facility and the driving direction of the vehicle body, and / or the pre-traveled learning path; A path reference line is determined according to the reference point.

3. The automatic driving and parking method according to claim 1 or 2, characterized in that: The reference point includes a center point; Determining a path reference line according to the boundary facilities and / or a previously traveled learning path includes: Determine whether there are boundary facilities on both sides of the vehicle in the parking driving environment along the driving direction of the vehicle body; the boundary facilities include at least one or more of parking spaces, road lines, curbs, and walls; If the boundary facilities exist on both sides along the traveling direction of the vehicle body, a center point is determined based on the boundary facilities, and a center line obtained by connecting the center points is determined as the path reference line.

4. The automatic driving and parking method according to claim 1 or 2, characterized in that: The reference points include trajectory points; Determining a path reference line according to the boundary facilities and / or a previously traveled learning path includes: If the boundary facilities exist on one side along the direction of travel of the vehicle body, or if the boundary facilities do not exist on both sides along the direction of travel of the vehicle body, the trajectory points are determined based on the previously learned path, and the trajectory line obtained by connecting the trajectory points is determined as the path reference line.

5. The automatic driving and parking method according to any one of claims 1 to 4, characterized in that: Determining a path reference line according to the boundary facilities and / or a previously traveled learning path includes: When the road section in the parking driving environment includes at least one of a road section where the boundary facilities exist on both sides along the driving direction of the vehicle body, and a road section where the boundary facilities exist on one side along the driving direction of the vehicle body, or where the boundary facilities do not exist on both sides along the driving direction of the vehicle body, a chamfer fitting process is performed on the intersection of the center line and the trajectory line to obtain a fitting line; The fitting line is determined as the path reference line.

6. The automatic driving and parking method according to claim 1, characterized in that: Determining an automatic driving and parking route based on the path reference line and a preset path widening dimension includes: The path reference line is widened along the path reference line according to a preset path widening dimension, and an automatic driving and parking route is determined based on the contour line after the widening process.

7. The automatic driving and parking method according to claim 6, characterized in that: Determining an automatic driving and parking route based on the path reference line and a preset path widening dimension includes: Determine the widening factor based on vehicle type; An automatic driving and parking route is determined according to the path reference line, the widening coefficient and the path widening dimension.

8. The automatic driving and parking method according to any one of claims 1 to 7, characterized in that: The automatic driving and parking route is a memory parking route; the method further includes: The memory parking route is displayed, and in response to confirmation of the memory parking route, memory parking is performed according to the memory parking route.

9. An automatic driving and parking device, characterized in that: include: An environment monitoring module, configured to obtain a parking driving environment and detect boundary facilities of the parking driving environment; a path reference determination module configured to determine a path reference line according to the boundary facilities and / or a previously traveled learned path; The route determination module is configured to determine the automatic driving and parking route based on the path reference line and a preset path widening dimension.

10. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the automatic driving and parking method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the automatic driving and parking method according to any one of claims 1 to 8.

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