Intelligent parking method and apparatus, and device and medium

Abstract

An intelligent parking method, comprising: acquiring spatial information of a target parking space, wherein the spatial information comprises parking space information of the target parking space and obstacle information corresponding to an obstacle in the target parking space, which obstacle information comprises position information of the obstacle; on the basis of the obstacle information and the parking space information, calculating the remaining space of the target parking space; in response to the remaining space meeting a parking condition of a vehicle, determining an actual parking position of the vehicle on the basis of the remaining space; and on the basis of the actual parking position, planning a path for the vehicle, and on the basis of the planned path, completing parking. The intelligent parking method can improve parking efficiency, avoid wasting time and computing power resources on re-planning paths, and minimize the impact of obstacles as much as possible.

Description

Intelligent parking method, device, equipment and medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on August 11, 2023, with application number 202311014264.8, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The embodiments of this specification relate to, but are not limited to, the field of intelligent driving technology, and in particular relate to, but are not limited to, an intelligent parking method, device, equipment, and medium. Background Art

[0004] In modern cities, parking has become a major headache for many. Crowded lanes, limited parking spaces, and cramped parking spaces complicate the task. For inexperienced drivers, parking can be a challenging task, draining considerable time and energy. Advances in technology have led to the emergence of smart parking solutions to address these challenges.

[0005] Smart parking is an automated, assisted parking system that uses advanced perception, computing, and control technologies to enable vehicles to park autonomously. During smart parking, the vehicle typically uses sensors and cameras to accurately detect the surrounding environment and obstacles and select a suitable parking space. The vehicle then automatically controls the steering, accelerator, and brakes to precisely park the vehicle without driver intervention.

[0006] The emergence of smart parking not only saves drivers a lot of time and energy, but also reduces parking accidents and scratches caused by human factors, greatly improving the user experience.

[0007] Summary of the Invention

[0008] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0009] According to a first aspect of an embodiment of this specification, there is provided an intelligent parking method, the method comprising:

[0010] Acquiring spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to an obstacle existing in the target parking space, wherein the obstacle information includes location information of the obstacle;

[0011] Calculating the remaining space of the target parking space based on the obstacle information and the parking space information;

[0012] In response to the remaining space satisfying a parking condition for the vehicle, determining an actual parking position of the vehicle according to the remaining space;

[0013] A path is planned for the vehicle based on the actual parking position, and parking is completed based on the planned path.

[0014] According to a second aspect of an embodiment of this specification, there is provided an intelligent parking device, the device comprising:

[0015] an acquisition module for acquiring spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to an obstacle existing in the target parking space, and the obstacle information includes at least position information of the obstacle;

[0016] a calculation module, for calculating the remaining space of the target parking space based on the obstacle information and the parking space information;

[0017] a determining module, in response to the remaining space satisfying a parking condition for the vehicle, determining an actual parking position of the vehicle according to the remaining space;

[0018] A planning module is configured to plan a path for the vehicle based on the actual parking position and complete parking based on the planned path.

[0019] According to a third aspect of the embodiments of this specification, there is provided an electronic device, comprising a communication interface, a processor, a memory, and a bus, wherein the communication interface, the processor, and the memory are interconnected via the bus;

[0020] The memory stores machine-readable instructions, and the processor executes the above method by calling the machine-readable instructions.

[0021] According to a fourth aspect of the embodiments of this specification, a machine-readable storage medium is provided, wherein the machine-readable storage medium stores machine-readable instructions, and the machine-readable instructions implement the above method when called and executed by a processor.

[0022] The technical solutions provided by the embodiments of this specification may have the following beneficial effects:

[0023] Through the above technical solution, when an obstacle exists in the target parking space, the remaining space in the target parking space is calculated using obstacle information and parking space information. The effective space available for parking within the remaining space is then determined, resulting in the actual parking position. Path planning is then performed based on the vehicle's actual parking position to enable the vehicle to park. In this process, on the one hand, before path planning, the impact of obstacles is considered in advance to improve parking efficiency and avoid wasting time and computing resources on replanning the path. On the other hand, the remaining space is calculated based on the obstacle information, fully utilizing the remaining space to complete the vehicle's path planning and enable the vehicle to park, minimizing the impact of obstacles. Furthermore, the entire parking process requires no human intervention and is automatically performed by the vehicle, improving the user experience while ensuring parking safety. Other aspects will become apparent after reading and understanding the accompanying drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1 is a schematic diagram of an intelligent parking scenario provided by an exemplary embodiment of this specification.

[0025] FIG2 is a schematic diagram of a logic judgment of smart parking provided by an exemplary embodiment of this specification.

[0026] FIG3 is a flow chart of an intelligent parking method provided by an exemplary embodiment of this specification.

[0027] FIG4 is a schematic diagram of a smart parking scenario provided by an exemplary embodiment of this specification.

[0028] FIG5A and FIG5B are schematic diagrams of a smart parking scenario provided by an exemplary embodiment of this specification.

[0029] FIG6 is a schematic diagram of the structure of an electronic device in which an intelligent parking device is located, provided by an exemplary embodiment of this specification.

[0030] FIG7 is a block diagram of an intelligent parking device provided by an exemplary embodiment of this specification. DETAILED DESCRIPTION

[0031] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments are not intended to represent all implementations consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of one or more embodiments of this specification, as detailed in the appended claims.

[0032] It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than those described in this specification. In addition, a single step described in this specification may be broken down into multiple steps for description in other embodiments, and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0033] Please refer to Figure 1, which is a schematic diagram of a smart parking scenario provided by an exemplary embodiment of this specification. As shown in Figure 1, the area where the parking space is located is composed of an area including the boundary line of the parking space.

[0034] Currently, when performing intelligent parking, a parking space without obstacles is usually selected. When there is an obstacle in the parking space, automatic parking is usually not possible and the driver needs to wait for the obstacle to leave, or manually move the obstacle away, or manually complete parking.

[0035] Therefore, when there is an obstacle in the parking space, it will cause great inconvenience to smart parking, resulting in excessive parking time and affecting the driver's driving experience. Moreover, the larger the space occupied by the obstacle, the greater the trouble it causes to the driver.

[0036] In view of this, this specification provides a technical solution for obtaining obstacle information in advance during the parking stage, determining whether the vehicle can be parked and path planning based on the remaining space, and completing the vehicle parking based on the planned path.

[0037] During implementation, the spatial information of the target parking space can be obtained.

[0038] In some embodiments, parking space information of a target parking space and obstacle information corresponding to obstacles in the target parking space, such as location information of the obstacles, may be acquired through an image acquisition device and / or a vehicle-mounted radar device carried by the vehicle.

[0039] The remaining space of the target parking space may be calculated based on the obstacle information and the parking space information.

[0040] In some embodiments, the space occupied by the obstacle may be calculated based on the obstacle information, and then the original space of the parking space may be determined according to the parking space information, thereby calculating the remaining space of the target parking space.

[0041] In response to the remaining space satisfying a parking condition for the vehicle, an actual parking position of the vehicle may be determined based on the remaining space.

[0042] For example, a conditional judgment can be performed on the calculated remaining space to determine whether the remaining space can accommodate the vehicle. If so, it is determined that the remaining space meets the parking conditions for the vehicle, and the actual parking position of the vehicle can be determined based on the remaining space.

[0043] A path may be planned for the vehicle based on the actual parking position, and parking may be completed based on the planned path.

[0044] In some embodiments, the actual posture of the vehicle when it parks at the actual parking position may be determined based on the actual parking position; and then, a path planning may be performed for the vehicle based on the current posture and the actual posture of the vehicle.

[0045] Through the above technical solution, when an obstacle exists in the target parking space, the remaining space in the target parking space is calculated using obstacle information and parking space information. The effective space available for parking within the remaining space is then determined, resulting in the vehicle's actual parking position. Path planning is then performed based on the actual parking position to enable the vehicle to park. In this process, on the one hand, before path planning, the impact of obstacles is considered in advance to improve parking efficiency and avoid wasting time and computing resources on replanning the path. On the other hand, the remaining space is calculated based on the obstacle information, fully utilizing the remaining space in the target parking space to complete path planning and enable the vehicle to park, minimizing the impact of obstacles. Furthermore, the entire parking process is automatically performed by the vehicle without requiring human intervention, which improves the user experience and ensures parking safety.

[0046] The intelligent parking method of this specification is described in detail below with reference to the accompanying drawings.

[0047] Please refer to Figure 2, which is a logical judgment diagram of a smart parking provided by an exemplary embodiment of this specification. As shown in Figure 2, in this specification, smart parking can be divided into the following four situations:

[0048] In the first case, there are no obstacles in the parking space, and the vehicle can perform center parking. This means that since there are no obstacles in the target parking space, the vehicle can park in the original space. For the sake of standard parking, the vehicle is usually parked in the middle of the target parking space, so this is called center parking.

[0049] In the second case, if there's an obstacle in the parking space and it doesn't affect the vehicle's ability to park, the vehicle can perform offset parking. In other words, since the obstacle doesn't significantly affect parking, the vehicle can use the remaining space in the target parking space to complete the parking. Compared to the first case, the parking position is offset, so this is called offset parking.

[0050] In the third case, if there is an obstacle in the parking space and it affects the vehicle's parking, the vehicle can be judged based on the movement trend of the obstacle. If the obstacle is stationary, the vehicle can give up parking and choose another parking space.

[0051] In the fourth case, for the third case mentioned above, if the obstacle has a tendency to move away, the vehicle can wait until the target parking space has enough remaining space for the vehicle to park in before parking in.

[0052] Based on the technical solution in this manual, the above four situations can be handled, and the entire parking process does not require human intervention, which is both time-saving and efficient.

[0053] Please refer to Figure 3, which is a flow chart of an intelligent parking method provided by an exemplary embodiment of this specification. As shown in Figure 3, the method includes steps 301 to 304.

[0054] Step 301: Acquire spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to an obstacle existing in the target parking space, and the obstacle information includes position information of the obstacle.

[0055] Step 302: Calculate the remaining space of the target parking space based on the obstacle information and parking space information.

[0056] Step 303 : In response to the remaining space satisfying the parking condition for the vehicle, determining the actual parking position of the vehicle according to the remaining space.

[0057] Step 304 : Planning a path for the vehicle based on the actual parking position, and completing parking based on the planned path.

[0058] It should be noted that the above-mentioned obstacles refer to objects or animals or plants that cause obstacles to parking vehicles.

[0059] For example, obstacles can be fixed objects, such as walls, trees, rocks, etc., or movable objects, such as construction materials, piles, electric vehicles, etc., or living things, which are not limited in this specification.

[0060] In this embodiment, spatial information of the target parking space may be obtained.

[0061] For example, the spatial information may include parking space information of the target parking space, such as its size, shape, and location. The spatial information may also include obstacle information corresponding to obstacles in the target parking space. The obstacle information may include the location information of the obstacle, such as its relative position within the parking space, and its size and shape.

[0062] In an embodiment shown, when step 301 is executed, spatial information within a target parking space and within a specified range outside a boundary line of the target parking space may be obtained.

[0063] For example, as shown in Figure 1, since the obstacle is partially located in the parking space, in order to obtain more comprehensive obstacle information and improve the accuracy of obstacle detection, it is possible to obtain not only the spatial information within the target parking space, but also the spatial information within a specified range outside the boundary line based on the boundary line of the target parking space.

[0064] In one embodiment shown, when executing step 301, the target parking space and obstacles existing in the target parking space can be identified based on the image acquisition device and / or vehicle-mounted radar device carried by the vehicle; the parking space information of the target parking space and the obstacle information corresponding to the obstacles existing in the target parking space can be obtained.

[0065] For example, the vehicle may be equipped with an image acquisition device and / or a vehicle-mounted radar device, and of course, other detection hardware, to identify the target parking space and obstacles in the target parking space. The vehicle may also obtain parking space information for the identified target parking space and obtain obstacle information for the identified obstacles.

[0066] In this embodiment, the remaining space of the target parking space may be calculated based on the obstacle information and the parking space information.

[0067] For example, the space occupied by the obstacle may be calculated based on the obstacle information, and then the original space in the parking space without the obstacle may be determined based on the parking space information, thereby calculating the current remaining space of the target parking space.

[0068] In one embodiment shown, the obstacle information further includes state information of the obstacle; the state of the obstacle includes a static state and a moving state; and the state information includes a moving direction and a moving speed.

[0069] When executing step 302, different remaining space calculation logics can be executed according to the different states of the obstacle: in response to the obstacle being in a stationary state, the remaining space of the target parking space is calculated based on the position information of the obstacle and the parking space information; in response to the obstacle being in a moving state, the remaining space of the target parking space is dynamically calculated based on the state information, the position information of the obstacle and the parking space information.

[0070] In one example, when the obstacle is stationary, it may correspond to situation 2 or situation 3 in FIG. 2 . It is necessary to calculate the remaining space of the target parking space based on the obstacle's location information and parking space information to determine whether the presence of the obstacle affects the parking of the vehicle.

[0071] In another example, when the obstacle is in motion, it may correspond to situation 2 or situation 4 in Figure 2 above. At this time, it is necessary to dynamically calculate the remaining space of the target parking space based on the state information and position information of the obstacle, as well as the parking space information. The reason why it is dynamic is that the remaining space will change as the obstacle moves.

[0072] By executing different remaining space calculation logic based on the state of the obstacle, it is possible to cope with various situations where obstacles exist, improve the adaptability of smart parking, and park the vehicle in time when the remaining space meets the parking conditions, saving the user's time.

[0073] In one embodiment shown, when an obstacle is in motion, different detection cycles can be set according to the different directions of movement of the obstacle: in response to the movement direction being a direction away from the target parking space, based on a first detection cycle, the remaining space of the target parking space is dynamically calculated according to the state information of the obstacle, the position information of the obstacle and the parking space information; in response to the movement direction being a direction close to the target parking space, based on a second detection cycle, the remaining space of the target parking space is dynamically calculated according to the state information of the obstacle, the position information of the obstacle and the parking space information; wherein, the second detection cycle is greater than the first detection cycle.

[0074] In one example, when the obstacle moves away from the target parking space, the remaining space of the target parking space can be dynamically calculated based on the state information of the obstacle, the position information of the obstacle, and the parking space information based on the first detection cycle.

[0075] In another example, when the obstacle moves toward the target parking space, the remaining space of the target parking space can be dynamically calculated based on the second detection cycle according to the state information of the obstacle, the position information of the obstacle, and the parking space information.

[0076] It should be noted that since it is more likely that there will be remaining space that meets the parking conditions for the vehicle when the obstacle is far away from the parking space than when it is close to the parking space, the second detection cycle can be set to be greater than the first detection cycle, thereby increasing the detection frequency when the obstacle is far away from the parking space and ensuring that the vehicle can be parked as soon as the obstacle vacates space, saving the user's time.

[0077] In one embodiment shown, when executing step 302, the occupied size of the target parking space occupied by the obstacle can be calculated based on the obstacle information and the parking space information; in the length direction of the target parking space, the remaining length obtained by subtracting the occupied size of the obstacle corresponding to the length direction from the parking space length is calculated; in the width direction of the target parking space, the remaining width obtained by subtracting the occupied size of the obstacle corresponding to the width direction and the door opening width corresponding to the open state from the parking space width is calculated; if the remaining length exceeds the preset length and the remaining width exceeds the preset width, it is determined that the remaining space meets the parking conditions for the vehicle.

[0078] Please refer to FIG4 , which is a schematic diagram of a smart parking scenario provided by an exemplary embodiment of this specification.

[0079] As shown in FIG4 , the impact of obstacle 3 on the length direction of the parking space is greater than that on the width direction. Therefore, for obstacle 3, the occupied size of the parking space in the length direction of obstacle 3 can be calculated based on the obstacle information and parking space information of obstacle 3.

[0080] Furthermore, the remaining length L can be calculated by subtracting the occupied size L3 of the obstacle 3 in the length direction from the parking space length L. 剩余 .

[0081] As shown in Figure 4, obstacles 1 and 2 have a greater impact on the width direction of the parking space than on the length direction. Therefore, for obstacles 1 and 2, the occupied size of the parking space encroached by obstacle 1 in the width direction can be calculated based on the obstacle information and parking space information of obstacle 1, and the occupied size of the parking space encroached by obstacle 2 in the width direction can be calculated based on the obstacle information and parking space information of obstacle 2.

[0082] In some embodiments, the width of the parking space W can be calculated by subtracting the width W1 of the obstacle 1 and the width W2 of the obstacle 2, as well as the width W of the door opening state. 门 , get the remaining width W 剩余 .

[0083] In order to facilitate passengers to get on and off the vehicle, a door opening width needs to be reserved, which can be 0.1 meters to 0.4 meters. This manual does not limit this.

[0084] After determining the remaining length and remaining width, the remaining length and width may be compared with the preset length and width required for parking a vehicle to determine whether the remaining space in the target parking space meets the parking conditions for the vehicle.

[0085] If either the remaining length or the remaining width is less than a preset value, it can be determined that the remaining space does not meet the parking conditions for the vehicle. If the remaining length exceeds the preset length and the remaining width also exceeds the preset width, it can be determined that the remaining space meets the parking conditions for the vehicle.

[0086] In one embodiment shown, when calculating the size of the target parking space occupied by an obstacle, the position of the obstacle relative to the target parking space can be determined based on the obstacle information and the parking space information, and based on the position of the obstacle relative to the target parking space, the size of the target parking space occupied by the obstacle in the length direction and / or width direction of the target parking space can be calculated.

[0087] It should be noted that for obstacles in the target parking space, the position of the obstacle relative to the target parking space can be determined based on the obstacle information and the parking space information, and then based on the position of the obstacle relative to the target parking space, it can be determined whether to calculate the occupied size of the parking space in the length or width direction of the obstacle.

[0088] For example, in Figure 4, obstacle 1 is located to the left of the parking space, not in the center. Therefore, obstacle 1 has less impact on the length than the width. The same applies to obstacle 2, which will not be discussed here. Obstacle 3 is located to the rear of the parking space, not in the center. Therefore, obstacle 3 has less impact on the width than the length. However, obstacle 4, located in the center of the space, will affect parking in both the length and width directions.

[0089] In one embodiment shown, the occupied size is the maximum value among the vertical distances between the boundary line closest to the obstacle and the outer contour of the obstacle facing the target parking space.

[0090] For example, when calculating the occupied size of an obstacle, in order to improve the calculation accuracy, the occupied size can be defined as the maximum value of the vertical distance between the boundary line closest to the obstacle and the outer contour of the obstacle toward the target parking space.

[0091] Taking Figure 4 as an example, for obstacle 1, the closest boundary to obstacle 1 is the left parking space line. The side of the obstacle facing the parking space is the right side of the obstacle. Therefore, the perpendicular distance between the points on the right side of the obstacle's contour and the left parking space line can be calculated, and the maximum distance is used as the occupied dimension W1. Assuming that the point on the obstacle's contour facing the parking space that is farthest from the left parking space line is P1, the occupied dimension W1 can be the perpendicular distance from P1 to the left parking space line.

[0092] It should be noted that FIG4 illustrates the inner side of the boundary line as a reference. In actual application, those skilled in the art may select the desired length. Similarly, the length L and width W of the parking space shown in FIG4 do not limit the size of the parking space. The length and width of the parking space may also be defined by those skilled in the art as needed.

[0093] In addition, the outline in FIG. 4 may be a projection of the obstacle 1 on the plane where the parking space is located, or other methods may be used to determine the farthest point.

[0094] In one embodiment shown, when executing step 302, the three-dimensional space occupied by the obstacle when it occupies the target parking space can be calculated based on the obstacle information and parking space information; based on the occupied three-dimensional space, the theoretical three-dimensional space corresponding to the target parking space is cropped to obtain a remaining three-dimensional space; if the three-dimensional dimensions corresponding to the remaining three-dimensional space respectively reach specified thresholds, it is determined that the remaining space meets the parking conditions for the vehicle; the thresholds are determined based on the model of the vehicle.

[0095] FIG5A and FIG5B are schematic diagrams of a smart parking scenario provided by an exemplary embodiment of this specification.

[0096] It should be noted that, compared with FIG4 which considers the occupied dimensions in the length and width directions, FIG5A and FIG5B also take the height direction into consideration based on FIG4 , thereby being able to cope with more complex environments.

[0097] For example, in an open-air environment, tree branches may interfere with the roof of the vehicle, causing scratches on the roof when parking. The embodiments of Figures 5A and 5B have better adaptability and can flexibly cope with such situations. When the space under the tree branches is sufficient for the vehicle to be parked, it can be determined that the remaining space in the target parking space meets the parking conditions for the vehicle, thereby completing the subsequent vehicle parking steps.

[0098] For example, based on the obstacle information and parking space information, the three-dimensional space corresponding to the obstacle and the theoretical three-dimensional space corresponding to the parking space can be determined. According to the part of the parking space occupied by the obstacle, the three-dimensional space occupied by the obstacle when occupying the target parking space can be calculated.

[0099] Then, based on the idea of ​​clipping, the three-dimensional space occupied by the obstacle can be removed from the theoretical three-dimensional space corresponding to the target parking space to obtain the remaining three-dimensional space of the target parking space.

[0100] Taking Figures 5A and 5B as an example, assuming that the space occupied by the obstacle is regarded as a cuboid, then after cutting, a cuboid of remaining space can be obtained, which corresponds to the gray dotted box in Figures 5A and 5B from a bird's-eye view.

[0101] As shown in FIG. 5A and FIG. 5B , compared with FIG. 5A , the available remaining three-dimensional space in FIG. 5B is smaller than that in FIG. 5A due to the presence of three obstacles.

[0102] It should be noted that although FIG. 5A and FIG. 5B adopt a top view, since the concept of the present invention is easy to understand, it does not affect the understanding of those skilled in the art.

[0103] Furthermore, the above-described cutting method is merely a simple illustration. Alternatively, the space occupied by an obstacle can be cut out, leaving more remaining space, and then determining whether a vehicle can be parked in the remaining space. Those skilled in the art, having understood the inventive concepts provided herein, can determine the extent of the cutting of the space occupied by an obstacle, and this specification does not limit this.

[0104] Continuing with the example, if the three-dimensional dimensions corresponding to the remaining three-dimensional space reach the specified thresholds in terms of length, width, and height, it can be determined that the remaining space meets the parking conditions for the vehicle.

[0105] The thresholds in the above three dimensions may be determined based on the vehicle model, and different thresholds may be set for different vehicles.

[0106] In this embodiment, in response to the remaining space of the target parking space satisfying the parking condition for the vehicle, the actual parking position of the vehicle may be determined according to the remaining space.

[0107] For example, a conditional judgment can be performed on the calculated remaining space to determine whether the remaining space can accommodate the vehicle. If so, it is determined that the remaining space meets the parking conditions for the vehicle, and the actual parking position of the vehicle can be determined based on the remaining space.

[0108] In one embodiment shown, when executing step 303 , the size of the actual parking position of the vehicle and the offset of the actual parking position relative to the boundary line of the target parking space can be determined based on the remaining space and the size of the vehicle.

[0109] In some embodiments, the actual parking position of the vehicle can be determined based on the remaining space and the size of the vehicle; the actual parking position of the vehicle may include the size of the actual parking position, such as length and width, and may also include the offset of the actual parking position relative to the boundary line of the target parking space, thereby facilitating positioning of the vehicle when parking and determining the final parking position of the vehicle.

[0110] In this embodiment, a path may be planned for the vehicle based on the actual parking position, and parking may be completed based on the planned path.

[0111] In some embodiments, a path may be planned for the vehicle based on the center point of the vehicle's current position and the center point of the actual parking position, and parking may be completed based on the planned path.

[0112] In one embodiment shown, when executing step 304, the actual posture of the vehicle when it parks at the actual parking position can be determined based on the actual parking position; and the path of the vehicle can be planned based on the current posture and actual posture of the vehicle.

[0113] In some embodiments, the actual posture of the vehicle when it parks at the actual parking position can be determined based on the actual parking position. For example, posture parameters such as the angle at which the vehicle enters the actual parking position and the orientation of the vehicle when parked at the actual parking position can be determined based on the actual parking position. By comparing the posture parameters with the current posture of the vehicle, it is determined how to adjust the posture of the vehicle to perform vehicle path planning.

[0114] Through the above technical solution, when an obstacle exists in the target parking space, the remaining space in the target parking space is calculated using obstacle information and parking space information. The effective space available for parking within the remaining space is then determined, resulting in the actual parking position. Path planning is then performed based on the vehicle's actual parking position to enable the vehicle to park. In this process, on the one hand, before path planning, the impact of obstacles is considered in advance to improve parking efficiency and avoid wasting time and computing resources on replanning the path. On the other hand, the remaining space is calculated based on the obstacle information, fully utilizing the remaining space to complete the vehicle's path planning and enable the vehicle to park, minimizing the impact of obstacles. Furthermore, the entire parking process is automatically performed by the vehicle without requiring human intervention, improving the user experience while ensuring parking safety.

[0115] In an exemplary embodiment of this specification, a device capable of implementing the above method is also provided.

[0116] FIG6 is a schematic structural diagram of a device provided by an exemplary embodiment. Referring to FIG6 , at the hardware level, the device includes a processor 602, an internal bus 604, a network interface 606, a memory 608, and a non-volatile memory 610, and may also include hardware required for other services. One or more embodiments of this specification may be implemented based on software, such as the processor 602 reading the corresponding computer program from the non-volatile memory 610 into the memory 608 and then running it. Of course, in addition to software implementation, one or more embodiments of this specification do not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but may also be hardware or logic devices.

[0117] Referring to FIG. 7 , in one software embodiment, a smart parking device 700 is provided. The device 700 includes: an acquisition module 701 for acquiring spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to obstacles present in the target parking space, wherein the obstacle information includes position information of the obstacles; a calculation module 702 for calculating the remaining space in the target parking space based on the obstacle information and the parking space information; a determination module 703 for determining an actual parking position of the vehicle based on the remaining space in response to the remaining space satisfying a parking condition for the vehicle; and a planning module 704 for planning a path for the vehicle based on the actual parking position and completing parking based on the planned path.

[0118] Optionally, the acquisition module 701 further acquires spatial information within the target parking space and within a specified range outside the boundary line of the target parking space.

[0119] Optionally, the acquisition module 701 further: identifies the target parking space and the obstacle existing in the target parking space based on the image acquisition device and / or vehicle-mounted radar device carried by the vehicle; obtains the parking space information of the target parking space and the obstacle information corresponding to the obstacle existing in the target parking space.

[0120] In some embodiments, the obstacle information also includes status information of the obstacle; the status information includes movement direction and movement speed; the calculation module 702 is further configured to: in response to the obstacle being in a stationary state, calculate the remaining space of the target parking space based on the position information of the obstacle and the parking space information; in response to the obstacle being in a moving state, dynamically calculate the remaining space of the target parking space based on the status information of the obstacle, the position information of the obstacle and the parking space information.

[0121] In some embodiments, the calculation module 702 is further configured to: in response to the movement direction being the direction away from the target parking space, based on a first detection cycle, dynamically calculate the remaining space of the target parking space according to the status information of the obstacle, the position information of the obstacle and the parking space information; in response to the movement direction being the direction close to the target parking space, based on a second detection cycle, dynamically calculate the remaining space of the target parking space according to the status information of the obstacle, the position information of the obstacle and the parking space information; wherein, the second detection cycle is greater than the first detection cycle.

[0122] In some embodiments, the calculation module 702 is further configured to: calculate the occupied dimensions of the target parking space occupied by the obstacle in the length and width directions of the target parking space respectively based on the obstacle information and the parking space information; calculate the remaining length in the length direction of the target parking space after deducting the occupied dimensions of the obstacle corresponding to the length direction from the parking space length; calculate the remaining width in the width direction of the target parking space after deducting the occupied dimensions of the obstacle corresponding to the width direction and the door opening width corresponding to the door opening state from the parking space width; the determination module 703 is further configured to: if the remaining length exceeds the preset length and the remaining width exceeds the preset width, determine that the remaining space meets the parking conditions for the vehicle.

[0123] In some embodiments, the calculation module 702 is further configured to: determine the position of the obstacle relative to the parking space based on the obstacle information and the parking space information, and calculate the occupied size of the target parking space by the obstacle in the length direction and / or the width direction of the target parking space according to the position of the obstacle relative to the parking space.

[0124] In some embodiments, the occupied size is the maximum value among the vertical distances between a boundary line closest to the obstacle and an outer contour of the obstacle facing the target parking space.

[0125] In some embodiments, the calculation module 702 is further configured to: calculate the three-dimensional space occupied by the obstacle when it invades the target parking space based on the obstacle information and the parking space information; based on the occupied three-dimensional space, crop the theoretical three-dimensional space corresponding to the target parking space to obtain the remaining three-dimensional space; the determination module 703 is further configured to: determine that the remaining space meets the parking conditions for the vehicle if the three-dimensional dimensions corresponding to the remaining three-dimensional space respectively reach specified thresholds; the thresholds are determined based on the model of the vehicle.

[0126] In some embodiments, the determination module 703 is further configured to determine the size of the actual parking position of the vehicle and the offset of the actual parking position relative to the boundary line of the target parking space based on the remaining space and the size of the vehicle.

[0127] In some embodiments, the planning module 704 is further configured to: determine the actual posture of the vehicle when it parks at the actual parking position according to the actual parking position; and perform path planning for the vehicle according to the current posture and actual posture of the vehicle.

[0128] The implementation process of the functions and effects of each module in the above-mentioned device 700 is specifically detailed in the implementation process of the corresponding steps in the above-mentioned method. For relevant matters, please refer to the partial description of the method implementation method, which will not be repeated here.

[0129] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the units or modules may be selected according to actual needs to achieve the purpose of the scheme of this specification. Those of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0130] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email transceiver, game console, tablet computer, wearable device, or any combination of these devices.

[0131] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0132] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0133] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0135] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0136] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a," "an," "the," and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0137] It should be understood that although the terms first, second, third, etc. may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when..." or "when..." or "in response to determining."

[0138] The above description is one or more embodiments of this specification and is not intended to limit one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of one or more embodiments of this specification.

Claims

1. An intelligent parking method, comprising: Acquire spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to an obstacle existing in the target parking space, and the obstacle information includes position information of the obstacle; Calculating the remaining space of the target parking space based on the obstacle information and the parking space information; In response to the remaining space satisfying a parking condition for the vehicle, determining an actual parking position of the vehicle according to the remaining space; A path is planned for the vehicle based on the actual parking position, and parking is completed based on the planned path.

2. The method according to claim 1, wherein: The step of obtaining the spatial information of the target parking space includes: The spatial information within the target parking space and within a specified range outside the boundary line of the target parking space is obtained.

3. The method according to claim 1, wherein: The step of obtaining the spatial information of the target parking space includes: Based on the image acquisition device and / or vehicle-mounted radar device carried by the vehicle, identifying the target parking space and the obstacle existing in the target parking space; Obtain parking space information of the target parking space and obstacle information corresponding to obstacles existing in the target parking space.

4. The method according to claim 1, wherein: The obstacle information also includes status information of the obstacle; The state information includes a moving direction and a moving speed; and the calculating the remaining space of the target parking space based on the obstacle information and the parking space information includes: In response to the obstacle being in a stationary state, calculating a remaining space of the target parking space based on the position information of the obstacle and the parking space information; In response to the obstacle being in a moving state, the remaining space of the target parking space is dynamically calculated according to the state information of the obstacle, the position information of the obstacle and the parking space information.

5. The method according to claim 4, wherein: The dynamically calculating the remaining space of the target parking space according to the state information of the obstacle, the position information of the obstacle and the parking space information includes: In response to the movement direction of the obstacle being a direction away from the target parking space, dynamically calculating the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle and the parking space information based on a first detection cycle; In response to the movement direction of the obstacle being a direction close to the target parking space, dynamically calculating the remaining space of the target parking space based on the state information of the obstacle, the position information of the obstacle and the parking space information based on a second detection cycle; The second detection period is greater than the first detection period.

6. The method according to claim 1, wherein: The calculating the remaining space of the target parking space based on the obstacle information and the parking space information includes: Based on the obstacle information and the parking space information, calculating the occupied size of the target parking space occupied by the obstacle; Calculate the remaining length in the length direction of the target parking space by subtracting the occupied dimension of the obstacle in the length direction from the length of the parking space; Calculate the remaining width in the width direction of the target parking space by subtracting the occupied size of the obstacle in the width direction from the width of the parking space and the door opening width corresponding to the door opening state; The remaining space meets the parking condition of the vehicle, including: the remaining length exceeds the preset length, and the remaining width exceeds the preset width.

7. The method according to claim 6, wherein: The calculating, based on the obstacle information and the parking space information, the occupied size of the target parking space occupied by the obstacle includes: Based on the obstacle information and the parking space information, determining the position of the obstacle relative to the target parking space, and According to the position of the obstacle relative to the target parking space, the occupied size of the target parking space occupied by the obstacle in the length direction and / or the width direction of the target parking space is calculated.

8. The method according to claim 6, wherein: The occupied size is the maximum value of the vertical distances from the boundary line closest to the obstacle to the outer contour of the obstacle toward the target parking space.

9. The method according to claim 1, wherein: The calculating the remaining space of the target parking space based on the obstacle information and the parking space information includes: Based on the obstacle information and the parking space information, calculating the three-dimensional space occupied by the obstacle when it occupies the target parking space; Based on the occupied three-dimensional space, cutting the theoretical three-dimensional space corresponding to the target parking space to obtain a remaining three-dimensional space; The remaining space satisfies the parking condition of the vehicle, including: three-dimensional dimensions corresponding to the remaining three-dimensional space respectively reach specified thresholds, and the thresholds are determined based on the model of the vehicle.

10. The method according to claim 1, wherein: The determining the actual parking position of the vehicle according to the remaining space includes: The size of the actual parking position of the vehicle and the offset of the actual parking position relative to the boundary line of the target parking space are determined according to the remaining space and the size of the vehicle.

11. The method according to claim 1, wherein: The performing path planning for the vehicle based on the actual parking position includes: Determining, according to the actual parking position, an actual posture of the vehicle when it is parked in the actual parking position; A path planning is performed for the vehicle according to the current position and the actual position of the vehicle.

12. An intelligent parking device, comprising: An acquisition module, which acquires spatial information of a target parking space, wherein the spatial information includes parking space information of the target parking space and obstacle information corresponding to an obstacle existing in the target parking space, and the obstacle information at least includes position information of the obstacle; A calculation module, which calculates the remaining space of the target parking space based on the obstacle information and the parking space information; a determination module, in response to the remaining space satisfying a parking condition for the vehicle, determining an actual parking position of the vehicle according to the remaining space; The planning module performs path planning for the vehicle based on the actual parking position and completes parking based on the planned path.

13. An electronic device comprising: processor; a memory for storing processor-executable instructions; The processor implements the method according to any one of claims 1 to 11 by running the executable instructions.

14. A machine-readable storage medium having machine-readable instructions stored thereon, wherein the instructions are executed by a processor to implement the method according to any one of claims 1 to 11.

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