Auto parking method and apparatus, and intelligent driving device

Abstract

An auto parking method and apparatus, and an intelligent driving device. The method comprises: while an intelligent driving device is travelling along a planned path in a road section, when the intelligent driving device cannot continue to travel along the planned path within a preset duration due to being obstructed by an obstacle, determining a target temporary stop area, the target temporary stop area being located within a preset range of the intelligent driving device, and the distance between the target temporary stop area and a certain boundary of the road section being less than or equal to a preset threshold; and controlling the intelligent driving device to park in the target temporary parking area. The described method can be applied to intelligent vehicles such as electric vehicles and new energy vehicles, and in the auto parking process, when the intelligent driving device is blocked by an obstacle and cannot continue to travel according to the planned path, the degree of traffic obstruction can be reduced. After the traffic capacity of the road section recovers, the vehicle can be controlled to pull out of the temporary stop area so as to continue to travel, which is beneficial for increasing the intelligence of auto parking and increases the success rate of auto parking.

Description

Automatic parking method, device and intelligent driving equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on September 28, 2023, with application number 202311283997.1 and invention name “Automatic parking method, device and intelligent driving equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent driving, and more specifically, to an automatic parking method, apparatus, and intelligent driving device. Background Art

[0003] Automatic parking (AP) refers to the automatic parking of a vehicle, meaning that the autonomous driving system can semi- or fully automatically help the user park the vehicle into a parking space. This includes automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP).

[0004] When the current AVP is controlling a vehicle to park into a parking space, or when controlling a vehicle to park out of a parking space and drive toward the driver's position, the automatic parking process may be terminated due to an obstacle blocking the vehicle, causing the vehicle to remain on the road and obstruct traffic.

[0005] In view of this, an automatic parking solution that can improve parking flexibility is in urgent need of development.

[0006] Summary of the Invention

[0007] The present application provides an automatic parking method, apparatus, and intelligent driving device, which can reduce the degree of obstruction of the intelligent driving device to traffic during the automatic parking process and improve the parking flexibility and intelligence of the intelligent driving device.

[0008] In a first aspect, an automatic parking method is provided, which can be executed by an intelligent driving device; or, it can also be executed by a computing platform of the intelligent driving device; or, it can also be executed by a chip or circuit used for the intelligent driving device, which is not limited in this application.

[0009] The method includes: when an intelligent driving device is traveling along a first planned path in a first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue traveling along the first planned path within a first time period, determining a first target temporary parking area, the first target temporary parking area is located within a first range of the intelligent driving device, and a distance between the first target temporary parking area and a first boundary of the first road section is less than or equal to a first threshold; and controlling the intelligent driving device to park in the first target temporary parking area.

[0010] In some implementations, the first obstacle includes, but is not limited to, road traffic participants and general obstacles that impede the travel of the intelligent driving device. Road traffic participants include, but are not limited to, motor vehicles, non-motor vehicles, and pedestrians. General obstacles include, but are not limited to, warning triangles, cones, and temporary signs.

[0011] In other implementations, when the road is relatively narrow, the first obstacle may also be a road boundary that blocks the intelligent driving device from traveling.

[0012] For example, the first duration may be 5 seconds, or 7 seconds, or other durations. The first range may include a range of 10 meters from the outer contour of the intelligent driving device, or other ranges.

[0013] In the above technical solution, during the automatic parking process, when the intelligent driving device is blocked by an obstacle and cannot continue to drive along the planned path, the intelligent driving device can be controlled to park in a temporary parking area on the side of the road, thereby reducing the degree of obstruction to traffic and improving the parking flexibility and intelligence of the intelligent driving device.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: obtaining information of one or more temporary parking areas, the one or more temporary parking areas are located within a first range of the intelligent driving device, and the distance between each of the one or more temporary parking areas and the first boundary is less than or equal to a first threshold; determining a first target temporary parking area, including: determining the first target temporary parking area from the one or more temporary parking areas based on the location and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined based on the parking space structure line.

[0015] Exemplarily, when the parking space is a road parking space, the parking space structure line is the parking space line; when the parking space is a mechanical parking space, the parking space structure line is the raised edge at the boundary of the mechanical parking space.

[0016] In some implementations, the degree of obstruction of the temporary parking area to the traffic of the first road section is determined based on the location and / or type of the temporary parking area, and then the temporary parking area with a lower degree of obstruction to the traffic of the first road section is selected as the first target temporary parking area.

[0017] In some other implementations, when the degree of obstruction of multiple temporary parking areas to the traffic of the first road section is not much different, the difficulty of the intelligent driving device parking in the temporary parking area is determined according to the location and / or type of the temporary parking area, and then the temporary parking area with lower parking difficulty is selected as the first target temporary parking area.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; determining the first target temporary parking area from the one or more temporary parking areas includes: determining the first temporary parking area as the first target temporary parking area.

[0019] In the above technical solution, when there are vacant parking spaces and vacant non-parking areas near the road boundary, the vacant parking spaces are determined as temporary parking areas, which helps to reduce the degree of road traffic congestion caused by temporary parking of intelligent driving equipment.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the intelligent driving device fails to park in the first target temporary parking area, determining a second planned path based on obstacles in the first road section; and controlling the intelligent driving device to travel along the second planned path.

[0021] Exemplarily, the failure of the intelligent driving device to park in the first target temporary parking area may include the following situations: path planning from the current position of the intelligent driving device to the first target temporary parking area fails, or the intelligent driving device cannot enter the first target temporary parking area in the target posture.

[0022] In the above technical solution, if the intelligent driving device cannot park in the temporary parking area, a driving path is planned for the intelligent driving device on the first road, and the intelligent driving device is controlled to drive. If the intelligent driving device cannot continue driving, the path planned for the intelligent driving device to the temporary parking area based on this solution is continued. This allows switching between multiple path plans during the automatic parking process, helping to improve the success rate of automatic parking.

[0023] In combination with the first aspect, in certain implementations of the first aspect, after the intelligent driving device parks into the first target temporary parking area, the method further includes: controlling the intelligent driving device to enter the first target parking exit area according to the road boundary of the first road section, and the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

[0024] Exemplarily, the first target parking area may be an area indicated by the target parking posture.

[0025] In the above technical solution, after the intelligent driving device is parked in the temporary parking area and the traffic capacity of the first road section is restored, the vehicle can be controlled to park out of the temporary parking area to continue driving, which helps to improve the intelligence level of automatic parking and increase the success rate of automatic parking.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the intelligent driving device fails to enter the first target parking area, controlling the intelligent driving device to park in a second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to a second threshold.

[0027] In some implementations, the second target temporary parking area and the first target temporary parking area may be the same area, the second boundary and the first boundary may be the same boundary, the second range and the first range may be the same range, and the second threshold and the first threshold may be the same value.

[0028] In the above technical solution, if the intelligent driving device cannot park into the target parking exit area, a path for the intelligent driving device to the temporary parking area is continued to be planned based on this solution, and the intelligent driving device is controlled to drive. If the intelligent driving device cannot continue to drive, a path for the intelligent driving device to the temporary parking area is continued to be planned based on this solution. After the intelligent driving device parks into the temporary parking area, the intelligent driving device is controlled to park out of the temporary parking area in a timely manner and to continue driving on the road, which helps to improve the success rate of automatic parking.

[0029] In combination with the first aspect, in certain implementations of the first aspect, the first planned path is any one of the following: a path indicating that the intelligent driving device travels from the current position to the target parking area, a path indicating that the intelligent driving device travels from the target parking area to the position of the driver of the intelligent driving device, or a path indicating that the intelligent driving device travels from the third temporary parking area to the target parking exit area; wherein the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

[0030] In some implementations, the third temporary parking area and the first target temporary parking area may be the same area, and the target parking-out area and the first target parking-out area may be the same area.

[0031] In a second aspect, an automatic parking device is provided, which includes: a determination unit for determining a first target temporary parking area when an intelligent driving device is traveling along a first planned path in a first road section and is unable to continue traveling along the first planned path within a first time period due to being blocked by a first obstacle. The first target temporary parking area is located within a first range of the intelligent driving device, and a distance between the first target temporary parking area and a first boundary of the first road section is less than or equal to a first threshold; and a processing unit for controlling the intelligent driving device to park in the first target temporary parking area.

[0032] In combination with the second aspect, in certain implementations of the second aspect, the device further includes an acquisition unit, which is used to: acquire information of one or more temporary parking areas, where the one or more temporary parking areas are located within a first range of the intelligent driving device, and the distance between each of the one or more temporary parking areas and the first boundary is less than or equal to a first threshold; the determination unit is used to: determine a first target temporary parking area from the one or more temporary parking areas based on the position and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined based on the parking space structure line.

[0033] In combination with the second aspect, in certain implementations of the second aspect, one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; the determination unit is used to: determine the first temporary parking area as the first target temporary parking area.

[0034] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is further used to: when the intelligent driving device fails to park in the first target temporary parking area, determine a second planned path based on obstacles in the first road section; the processing unit is further used to: control the intelligent driving device to travel along the second planned path.

[0035] In combination with the second aspect, in certain implementations of the second aspect, after the intelligent driving device parks into the first target temporary parking area, the processing unit is also used to: control the intelligent driving device to enter the first target parking exit area according to the road boundary of the first section, and the first target parking exit area is used for the intelligent driving device to continue driving in the first section.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further used to: when the intelligent driving device fails to enter the first target parking area, control the intelligent driving device to park in the second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to the second threshold.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the first planned path is any one of the following: a path indicating the intelligent driving device to travel from the current position to the target parking area, a path indicating the intelligent driving device to travel from the target parking area to the position of the driver of the intelligent driving device, or a path indicating the intelligent driving device to travel from the third temporary parking area to the target parking exit area; wherein the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

[0038] In a third aspect, an automatic parking device is provided, which includes: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device executes the method in any possible implementation of the first aspect.

[0039] In a fourth aspect, an intelligent driving device is provided, which includes the apparatus in any possible implementation of the second aspect or the third aspect.

[0040] In combination with the fourth aspect, in some implementations of the fourth aspect, the intelligent driving device is a vehicle.

[0041] In a fifth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in any one of the possible implementations of the first aspect.

[0042] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or separately from the processor.

[0043] In a sixth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the first aspect.

[0044] In a seventh aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a functional block diagram of an intelligent driving device provided in an embodiment of the present application;

[0046] FIG2 is a schematic diagram of the system architecture required for implementing the automatic parking method provided in an embodiment of the present application;

[0047] FIG3 is a schematic flowchart of an automatic parking method provided in an embodiment of the present application;

[0048] FIG4 is another schematic flowchart of the automatic parking method provided in an embodiment of the present application;

[0049] FIG5 is a schematic diagram of an application scenario of the automatic parking method provided in an embodiment of the present application;

[0050] FIG6 is a schematic diagram of another application scenario of the automatic parking method provided in an embodiment of the present application;

[0051] FIG7 is another schematic flowchart of the automatic parking method provided in an embodiment of the present application;

[0052] FIG8 is another schematic flowchart of the automatic parking method provided in an embodiment of the present application;

[0053] FIG9 is a schematic block diagram of an automatic parking device provided in an embodiment of the present application;

[0054] FIG10 is another schematic block diagram of the automatic parking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] To facilitate understanding of the technical solutions of the embodiments of this application, the following concepts are first introduced:

[0056] Trapped: refers to the state in which the intelligent driving device is blocked by an obstacle and cannot travel smoothly.

[0057] Escape: It means that the intelligent driving device is freed from the state where it is blocked by obstacles and cannot drive smoothly, so that it can continue to drive.

[0058] Parking Cruise: This refers to the state in which the intelligent driving device drives at a lower speed when the target parking location has not yet been determined. Alternatively, parking cruise refers to the state in which the intelligent driving device drives at a lower speed when the target parking location has been determined but the intelligent driving device is far away from the target parking location.

[0059] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0060] FIG1 is a functional block diagram of an intelligent driving device provided in an embodiment of the present application. As shown in FIG1 , the intelligent driving device 100 may include a perception system 120 and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment surrounding the intelligent driving device 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), a Beidou system, or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0061] Some or all functions of the intelligent driving device 100 can be controlled by a computing platform 150. The computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0062] The intelligent driving device 100 may include an advanced driving assistant system (ADAS). ADAS uses multiple sensors on the intelligent driving device (including but not limited to: lidar, millimeter wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surrounding of the intelligent driving device, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, intelligent driving device positioning, path planning, driver monitoring / reminder, etc., thereby improving the safety, automation and comfort of driving the intelligent driving device.

[0063] From a logical function perspective, ADAS systems generally include three main functional modules: perception module, decision module and execution module. The perception module perceives the surrounding environment of the vehicle body through sensors and inputs corresponding real-time data to the decision-making layer processing center. The perception module mainly includes on-board cameras / ultrasonic radars / millimeter-wave radars / lidars, etc.; the decision module uses computing devices and algorithms to make corresponding decisions based on the information obtained by the perception module; the execution module takes corresponding actions after receiving the decision signal from the decision module, such as driving, changing lanes, steering, braking, warnings, etc.

[0064] ADAS can provide varying degrees of automated driving assistance at different levels of automation (L0-L5), based on artificial intelligence algorithms and information from multiple sensors. These levels are based on the Society of Automotive Engineers (SAE) grading standards. L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At L1-L3, monitoring and responding to road conditions are performed jointly by the driver and the system, with the driver taking over dynamic driving tasks. At L4 and L5, the driver transitions completely to the role of passenger. Currently, ADAS features include, but are not limited to, adaptive cruise control, automatic emergency braking, automated parking, blind spot monitoring, front cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keep assist, rear collision warning, traffic sign recognition, traffic jam assistance, and highway assistance. It should be understood that the various functions mentioned above may have specific modes at different autonomous driving levels (L0-L5), and the higher the autonomous driving level, the more intelligent the corresponding mode. For example, automatic parking may include APA, RPA, and AVP. For APA, the driver does not need to operate the steering wheel, but the driver is still required to operate the intelligent driving device in real time to monitor the status of the intelligent driving device; for RPA, the driver can use a terminal (such as a mobile phone) to remotely park the intelligent driving device outside the intelligent driving device; for AVP, the intelligent driving device can complete parking without a driver. In terms of the corresponding autonomous driving level, APA is approximately at the L2 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0065] In an embodiment of the present application, the computing platform 150 can determine whether to switch to the planning mode based on the obstacle information obtained by the perception system 120. The computing platform 150 can also control the intelligent driving device 100 to park in a roadside area when the intelligent driving device 100 is trapped to prevent the intelligent driving device 100 from obstructing traffic.

[0066] The intelligent driving devices involved in the embodiments of the present application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense and may be a transportation vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0067] Figure 2 shows a schematic diagram of the control system architecture provided by an embodiment of the present application. As shown in Figure 2, the system includes a perception module 210, a planning module 220, a control module 230, and an actuator 240. The perception module 210 may include one or more sensors in the perception system 120 shown in Figure 1, and the planning module 220 and the control module 230 may each be one or more processors in the computing platform 150 shown in Figure 1.

[0068] The perception module 210 is used to collect environmental information around the intelligent driving device. The environmental information includes information such as the location of obstacles around the intelligent driving device. The perception module 210 can input the obstacle information into the planning module 220.

[0069] The planning module 220 includes a cruise planning module 221 , an escape planning module 222 , a parking planning module 223 , a temporary stop planning module 224 and a temporary stop return planning module 225 .

[0070] The cruise planning module 221 is used to plan a parking cruise path for the intelligent driving device. The parking cruise path instructs the intelligent driving device to travel from its current location to a target parking area, or from a target parking area to the location of the driver of the intelligent driving device. If the intelligent driving device is unable to continue along the parking cruise path due to an obstacle during parking cruise, the escape planning module 222 is used to plan an escape path. When the intelligent driving device approaches the target parking area along the parking cruise path, the parking planning module 223 is used to plan a parking path.

[0071] The escape planning module 222 is used to plan an escape path for the intelligent driving device when it is trapped. The escape path instructs the intelligent driving device to continue driving around the obstacle that trapped it. If the intelligent driving device successfully escapes along the escape path, the module switches to the cruise planning module 221 to continue parking cruise path planning. If the escape path planning fails, or the intelligent driving device cannot escape along the escape path, the module switches to the temporary stop planning module 224 to plan a temporary stop path.

[0072] The parking planning module 223 is used to plan the position and path of the intelligent driving device when entering the target parking area. When the intelligent driving device successfully parks in the target parking area, the parking process ends; when the intelligent driving device fails to park, it switches to the cruise planning module 221 to continue parking cruise path planning.

[0073] The temporary stop planning module 224 includes a temporary stop area selection module, a target position generation module, a path planning module, and a path tracking module. The temporary stop area selection module is configured to select a target temporary stop area from one or more temporary stop areas. The temporary stop area selection module is configured to select one or more temporary stop areas. The temporary stop area selection module is configured to select one or more temporary stop areas from a preset range of the intelligent driving device, and the distance between each temporary stop area and the first boundary of the road segment currently located by the intelligent driving device is less than or equal to a first threshold. For example, the temporary stop area selection module may select a target temporary stop area based on the degree of obstruction to road traffic caused by the temporary stop area. The target position generation module is configured to generate a target position of the intelligent driving device in the target temporary stop area and to adjust the target position in real time. The path planning module is configured to plan a temporary stop path for the intelligent driving device from its current position to its target position. The path tracking module is configured to monitor the driving status of the intelligent driving device. When the intelligent driving device enters the target temporary stop area in the target position, the module switches to the temporary stop return module 225 to plan the temporary stop return path. If the intelligent driving device fails to stop, the module switches to the cruise planning module 221 to continue planning the parking cruise path.

[0074] The temporary stop return planning module 225 is used to monitor the road environment around the temporary stop area where the intelligent driving device is located. When the road's traffic capacity is restored, the temporary stop return planning module 225 plans a temporary stop return path for the intelligent driving device from the temporary stop area to the target parking area based on the road boundary. The target parking area is used for the intelligent driving device to continue driving on the road. When the intelligent driving device successfully enters the target parking area, the module switches to the cruise planning module 221 to continue parking cruise path planning. If the intelligent driving device fails to return to the temporary stop, the module switches to the temporary stop planning module 224 to plan the temporary stop path.

[0075] The control module 230 can calculate the corresponding control variables based on the path planned by the planning module 220 and output the control variables to the actuator 240. When the actuator 240 executes the control variables, the vehicle is controlled to travel along the planned path. In some possible implementations, the actuator may include the steering and braking control systems in the intelligent driving device 100.

[0076] It should be understood that the above modules are only an example. In actual applications, the above modules may be added or deleted according to actual needs. For example, in the system architecture shown in Figure 2, the cruise planning module 221, the escape planning module 222, the parking planning module 223, the temporary stop planning module 224 and the temporary stop return planning module 225 can be combined into one module, or the planning module 220 and the control module 230 can also be combined into one module. For another example, the above system also includes a prompt module, which receives information from the planning module 220. When the planning module 220 switches modes, the prompt module sends a prompt message to prompt the occurrence of the mode switch.

[0077] FIG3 shows a schematic flow chart of an automatic parking method provided by an embodiment of the present application. This method can be applied to the intelligent driving device shown in FIG1 , or the method can be executed by the system shown in FIG2 . Exemplarily, the method can be executed by the planning module 220 . The method 300 can include S301 and S302 .

[0078] S301, when an intelligent driving device is traveling along a first planned path in a first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue traveling along the first planned path within a first time period, determining a first target temporary stopping area, the first target temporary stopping area being within a first range of the intelligent driving device, and a distance between the first target temporary stopping area and a first boundary of the first road section being less than or equal to a first threshold.

[0079] For example, the first road section may be the road section along which the intelligent driving device travels from the current position to the target parking area, or the first road section may be the road section along which the intelligent driving device travels from the parking area to the driver's position.

[0080] In some implementations, the first planned path is any one of the following: a path for the intelligent driving device to travel from the current location to the target parking area, a path for the intelligent driving device to travel from the target parking area to the location of the driver of the intelligent driving device, or a path for the intelligent driving device to travel from a third temporary parking area to a target exit area. The third temporary parking area is the area where the intelligent driving device was parked before traveling along the first planned path.

[0081] It should be noted that the driver's position may be the driver's actual position, or may be a position set by the driver.

[0082] Exemplarily, the first planned path may include the parking cruise path or the temporary stop return path in the above-mentioned embodiment. The first duration may be 5 seconds, or 7 seconds, or other durations. The first range may include a range of 10 meters from the outer contour of the intelligent driving device, or other ranges. The first boundary of the first road section may be the left boundary of a one-way lane or the right boundary of a one-way lane. The first boundary may be a boundary determined according to the shoulder, or it may be a boundary determined according to a green belt or a dividing belt. Among them, the shoulder may include but is not limited to a hard shoulder and a protective shoulder. When the first road section is a section in an indoor parking lot, the first boundary may also be a boundary determined according to a wall or a parking space line. In some implementations, when the two boundaries of the first road section are the boundaries formed by a double yellow line and a shoulder, the first boundary is the boundary formed by the shoulder.

[0083] For example, the distance between the first target temporary parking area and the first boundary is: the distance between the first boundary and the boundary closest to the first boundary of the first target temporary parking area. The first threshold value can be 10 centimeters, or the first threshold value can also be 15 centimeters, or the first threshold value can also be other values.

[0084] In some implementations, one or more temporary stopping areas are obtained, and the one or more temporary stopping areas are located within a first range of the intelligent driving device, and a distance between each of the one or more temporary stopping areas and the first boundary is less than or equal to a first threshold.

[0085] In some implementations, a first target temporary parking area is determined from one or more temporary parking areas based on the location and / or type of each temporary parking area. The type of the temporary parking area indicates whether the temporary parking area is determined based on parking space structure lines. Parking space structure lines include parking space lines and raised edges at the boundaries of mechanical parking spaces.

[0086] In one example, there are two temporary parking areas, one of which is determined based on parking space structure lines and the other is not. The temporary parking area determined based on parking space structure lines is then determined as the target temporary parking area. The temporary parking area not determined based on parking space structure lines can be a blank area determined based on the location of obstacles, or it can be determined based on other methods. In another example, there are two temporary parking areas of the same type. The temporary parking area that is easier for the intelligent driving device to park in is determined as the target temporary parking area. The difficulty of parking in a temporary parking area can be determined by the number of parking attempts. In another example, the degree of traffic congestion for each temporary parking area on a first road section is determined. Furthermore, the temporary parking area with the lowest degree of traffic congestion for the first road section among the one or more temporary parking areas is determined as the first target temporary parking area. In yet another example, the difficulty of parking in each temporary parking area can be determined, and the temporary parking area with the lowest difficulty is determined as the first target temporary parking area.

[0087] In a specific implementation process, any one of the above examples may be used to determine the first target temporary parking area, or a combination of two or more of the above examples may be used to determine the first target temporary parking area.

[0088] In some implementations, the degree of traffic congestion of the temporary parking area on the first road section can be determined based on the location and / or type of the temporary parking area. For example, compared with the temporary parking area not determined based on the parking space structure line, the temporary parking area determined based on the parking space structure line has a lower degree of traffic congestion on the first road section. The degree of traffic congestion of the temporary parking area on the first road section can also be determined based on the distance between the temporary parking area and a specific marker, wherein the specific marker includes bus stops, intersections, and other areas with a greater impact on traffic. For example, compared with the temporary parking area farther away from the specific marker, the temporary parking area closer to the specific marker has a higher degree of traffic congestion on the first road section.

[0089] S302: Control the intelligent driving device to park in the first target temporary parking area.

[0090] In some implementations, when the intelligent driving device fails to park in the first target temporary parking area, a second planned path is determined based on obstacles in the first road section, and the intelligent driving device is controlled to travel along the second planned path.

[0091] For example, the second planned path may be the parking cruise path in the above embodiment.

[0092] Among them, the failure of the intelligent driving device to park in the first target temporary parking area may include the following situations: the path planning from the current position of the intelligent driving device to the first target temporary parking area fails, or the intelligent driving device cannot enter the first target temporary parking area in the target posture.

[0093] In some implementations, after the intelligent driving device enters the first target temporary parking area, the intelligent driving device is controlled to enter the first target parking exit area based on the road boundary of the first road section. The first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

[0094] The capacity of the first road section indicates the number of vehicles passing through the first road section per unit time. For example, the capacity threshold may be 5 vehicles passing through within 1 minute, or 10 vehicles passing through within 1 minute, or other values.

[0095] For example, the first target parking-out area may be an area where the target parking-out posture is located, which is determined according to a road boundary of the first road section.

[0096] Illustratively, the distance between the first target parking area and the boundary of the first road section is greater than or equal to a preset distance. For example, the preset distance may be 0.5 meters, or 1.5 meters, or other values.

[0097] In some implementations, when the intelligent driving device fails to enter the first target parking area, the intelligent driving device is controlled to park in the second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to the second threshold.

[0098] Among them, the failure of the intelligent driving device to park into the first target parking area may include the following situations: path planning from the current temporary parking area of ​​the intelligent driving device to the first target parking area fails, or the intelligent driving device cannot enter the first target parking area with the target posture.

[0099] In a specific implementation process, the second target temporary parking area and the first target temporary parking area may be the same area, the second boundary and the first boundary may be the same boundary, the second range and the first range may be the same range, and the second threshold and the first threshold may be the same value.

[0100] The automatic parking method provided in an embodiment of the present application can control the intelligent driving device to park in a temporary parking area when an obstacle prevents it from continuing along the planned route, thereby reducing traffic obstruction. After the intelligent driving device has parked in the temporary parking area and the traffic capacity of the first road section has been restored, the vehicle can be controlled to park out of the temporary parking area to continue driving, thereby improving the intelligence level of automatic parking and increasing the success rate of automatic parking.

[0101] The automatic parking method in method 300 is described in detail below with reference to FIG. 4 to FIG. 6 .

[0102] FIG4 is another schematic flow chart of an automatic parking method according to an embodiment of the present application. Method 400 can be considered an extension of method 300, or a further explanation of method 300. Method 400 includes steps S401 to S414. Method 400 is described using a vehicle as an example of an intelligent driving device.

[0103] S401: Obtain one or more temporary parking areas.

[0104] Exemplarily, the one or more temporary parking areas may be the one or more temporary parking areas in the above-mentioned embodiments.

[0105] S402: Determine a target temporary parking area from one or more temporary parking areas.

[0106] For example, the target temporary parking area can be an example of the first target temporary parking area, or can be an example of the second target temporary parking area. The method for determining the target temporary parking area from one or more temporary parking areas can refer to the description in method 300 and will not be repeated here.

[0107] S403: Determine target posture 1 according to the target temporary stopping area.

[0108] For example, after determining the target posture 1 according to the target temporary parking area, a collision detection can be performed on the target posture 1 to determine whether the vehicle will collide with obstacles around the target posture 1 when in the target posture 1. After the collision detection of the target posture 1 passes, S404 is executed.

[0109] For example, collision detection may be performed using the GJK (Gilbert–Johnson–Keerthi) algorithm, or using the separating axis theorem (SAT), or other methods.

[0110] S404, plan a temporary parking route.

[0111] For example, a path search and planning algorithm or a geometric method can be used to generate a path from the current position of the vehicle to the target position 1, which is the temporary stopping path. The path search and planning algorithm can be an A* (A-star) algorithm, a hybrid A* algorithm, or an ultrafast A* algorithm.

[0112] S405: Determine whether the temporary stop path planning fails.

[0113] Specifically, when the temporary stop path planning fails, execute S406; otherwise, execute S407.

[0114] For example, if a temporary stop route is generated using a path search and planning algorithm, the temporary stop route planning fails if the path search fails or the time required for a single path search exceeds a preset time. The preset time may be 5 seconds, 10 seconds, or another time.

[0115] S406: Determine whether the total duration of the path planning exceeds a preset duration 1.

[0116] Specifically, when the total duration of the route planning exceeds the preset duration 1, it is determined that the temporary stop has failed (S414); otherwise, S402 is executed, that is, the target temporary stop area is reselected.

[0117] The total duration of the route planning may be the total duration calculated from the first determination of the target temporary parking area. For example, the preset duration 1 may be 1 minute, or 2 minutes, or other durations.

[0118] For example, “the total duration of path planning exceeds the preset duration 1” can be understood as an example of “failure of path planning from the current location of the intelligent driving device to the first target temporary parking area”.

[0119] S407, tracking the temporary stop path.

[0120] For example, algorithms such as pure pursuit (PP) control, Stanley control, proportional-integral-derivative (PID) control, and model predictive control can be used to perform stop-path tracking.

[0121] S408: Determine whether the vehicle is stopped by an obstacle.

[0122] A vehicle being stopped by an obstacle can be understood as: there is an obstacle in the temporary stopping path, which makes it impossible for the vehicle to continue traveling along the temporary stopping path.

[0123] Illustratively, when the vehicle is not stopped by an obstacle, execute S410; otherwise, execute S409.

[0124] S409, re-plan the temporary parking route.

[0125] In some possible implementations, when replanning the temporary stop path, the horizontal / vertical position of the target posture 1 and the attitude angle of the target posture 1 can be adjusted to obtain a new target posture, and the temporary stop path can be replanned based on the new target posture.

[0126] When the temporary stop path replanning fails, if the total duration of the path planning exceeds the preset duration 1, it is determined that the temporary stop has failed (S414); if the temporary stop path replanning succeeds, S407 is continued.

[0127] A more specific implementation method of replanning the temporary stop path can be referred to the description in S404 to S406, which will not be repeated here.

[0128] S410, determining whether the target posture deviates greatly.

[0129] Exemplarily, the target posture may be target posture 1, or may be a new target posture obtained by adjusting target posture 1.

[0130] For example, during vehicle travel, since there may be a deviation between the actual vehicle travel path and the planned temporary stop path, a predicted posture can be periodically generated during the process of tracking the temporary stop path. The predicted posture is the possible posture of the vehicle when it continues to travel along the temporary stop trajectory to the target temporary stop area. If the position and / or attitude angle between the predicted posture and the target posture differ significantly, it is determined that the target posture deviates significantly. Specifically, if the target posture deviates significantly, S409 is executed; otherwise, S411 is executed.

[0131] S411: Determine whether the tracking error exceeds a preset threshold.

[0132] For example, the tracking error may be a deviation between the current lateral position of the vehicle and the lateral position of the planned temporary stopping path. The preset threshold may be 5%, or 10%, or other values.

[0133] Specifically, when the tracking error exceeds a preset threshold, execute S409; otherwise, execute S412.

[0134] S412, arriving at the target temporary parking area with the target posture.

[0135] Specifically, when the vehicle reaches the target temporary parking area at the target posture, it is determined that the temporary parking is successful (S413); otherwise, it is determined that the temporary parking fails (S414).

[0136] It should be noted that, when S408, S410, and S411 are all negative, if the vehicle fails to reach the target temporary parking area at the target posture in S412, it may be because the vehicle is stuck at a certain point in time for too long, resulting in the planned path being unable to be tracked, in which case the temporary parking is determined to have failed.

[0137] S413, temporary stop successful.

[0138] S414, temporary stop failed.

[0139] The automatic parking method provided in the embodiments of the present application can be applied to automatic parking scenarios, such as when a vehicle is traveling toward a target parking area, or when a vehicle is traveling toward the driver's location after parking out of a target parking area.

[0140] Figure 5 shows a schematic diagram of an application scenario of the automatic parking method provided by an embodiment of the present application. Figure 5 is a schematic diagram of a parking lot, which includes an entrance gate 12 and an exit gate 19.

[0141] In some implementations, it is assumed that vehicle 11 enters from entrance gate 12. During parking cruise in the parking lot, vehicle 13 is in a parking state and may travel to position 13'. In addition, there is a parked vehicle 14 in front of the left side of vehicle 11. The presence of vehicles 13 and 14 hinders vehicle 11 from continuing to move forward. At this time, vehicle 11 can execute method 300 or method 400 to park at position 11', thereby reducing traffic obstruction at the entrance of the parking lot. Among them, the road currently located by vehicle 11 can be understood as an example of a first road section, the first boundary of the first road section can be determined based on wall 15, vehicles 13 and 14 can be understood as an example of a first obstacle, and position 11' can be understood as an example of a first target parking area.

[0142] In some further implementations, assume that vehicle 18 has parked out of a parking space and is preparing to exit the parking lot, but vehicles 16 and 17 are blocking vehicle 18 from continuing to move forward. In this case, vehicle 18 may execute method 300 or method 400 to park at position 18', position 18", or position 18'", thereby reducing traffic obstruction at the parking lot exit. Vehicles 16 and 17 may be understood as examples of first obstacles, and the road currently occupied by vehicle 18 may be understood as an example of a first road segment. If the boundaries of the first road segment may be boundaries a and b determined based on parking space lines, position 18' may be understood as an example of a first target parking area. For example, when there are parking spaces around vehicle 18 where no vehicles are parked, the boundaries of the first road segment may also be boundaries c and d, respectively, determined based on parking space lines and walls, and position 18" and position 18'" may be understood as other examples of the first target parking area.

[0143] FIG6 illustrates another application scenario of the automatic parking method provided by an embodiment of the present application. As shown in (a) and (b) of FIG6 , a schematic diagram of a one-way road is provided. Roadside parking spaces numbered "0043," "0044," "0045," and "0046" are provided along the roadside. Furthermore, a blank area 24 for parking is located between parking spaces numbered "0045" and "0046." When vehicle 21 is traveling on the current road and is unable to move forward due to a collision between vehicles 25 and 26, or a malfunction of either vehicle 25 or 26, vehicle 21 may execute method 300 or method 400 to park at position 21'. The road currently occupied by vehicle 21 may be understood as an example of a first road segment, and vehicles 25 and / or 26 may be understood as an example of a first obstacle. If the first boundary can be determined based on the shoulder of the road to the right of vehicle 21, parking space numbered "0046" may be understood as an example of a first target parking area.

[0144] After the vehicle is parked in the target parking area, the vehicle can monitor the traffic conditions on the first road section and then return to the first road section to continue driving in a timely manner.

[0145] FIG7 shows another schematic flow chart of the automatic parking method provided in an embodiment of the present application. Method 500 can be considered an extension of method 300. Method 500 can be performed after method 300 or method 400; for example, method 500 can be performed after S302 or S414. Method 500 includes S501 to S510.

[0146] S501: Acquire road structure information.

[0147] For example, the road structure information may indicate a road boundary of the first road segment.

[0148] S502: Generate target pose 2 according to road structure information.

[0149] For example, a parking guide line can be generated based on the road structure information, and the target posture 2 can be generated based on the parking guide line and the obstacle position in the first road section. The parking guide line can be the road centerline of the first road section.

[0150] For example, a method for generating the target pose 2 according to the parking guide line and the obstacle position may be as follows:

[0151] Based on the information about the exit guide lines, seed points are determined. These seed points may include the positions and postures that most users typically park their vehicles in when exiting a parking space. The seed points can be determined using a big data algorithm or other methods. The seed points must meet the following conditions: Regardless of the location of obstacles on the road, after the vehicle is parked at the seed point, the vehicle's posture at the seed point ensures that the vehicle's direction of travel is parallel to the road tangent. Based on the seed points, an exit posture area is determined, and the exit posture area is discretized. Starting from the seed point, the discretized points are traversed to obtain an exit posture set, which includes one or more exit postures. Based on the location of obstacles in the first road segment, the A* detection algorithm is used to determine the feasible exit posture in the exit posture set that is closest to the seed point as target posture 2. "Feasible" means that the obstacle will not affect the vehicle's travel from the temporary parking area to the area indicated by target posture 2.

[0152] S503, planning a return path after a temporary stop.

[0153] For example, a path search and planning algorithm or a geometric method may be used to generate a path from the current position of the vehicle to the target position 2, which is the temporary stop return path.

[0154] S504: Determine whether the temporary stop return path planning fails.

[0155] Specifically, when the temporary stop return path planning fails, execute S406; otherwise, execute S407.

[0156] For example, if a path search and planning algorithm is used to generate a temporary stop return path, the temporary stop path planning is determined to have failed if the path search fails or the time required for a single path search exceeds a preset time. The preset time may be 5 seconds, 10 seconds, or another time.

[0157] S505: Determine whether the time required for path planning exceeds a preset time 2.

[0158] Specifically, when the total duration of path planning exceeds the preset duration 2, it is determined that the temporary stop return fails (S510); otherwise, S502 is executed, that is, the target posture is regenerated.

[0159] The total duration of path planning may be the total duration counted from the first generation of target posture 2. For example, the preset duration 2 may be 1 minute, or 2 minutes, or other durations.

[0160] For example, "the total time of path planning exceeds the preset time 2" can be understood as an example of "the path planning from the current temporary parking area of ​​the intelligent driving device to the first target parking area fails".

[0161] S506, determining that the temporary stop and return timing has been reached.

[0162] In one example, when it is detected that the first obstacle has eliminated the obstruction to the first planned path, or when the traffic capacity of the first road section is greater than or equal to the traffic capacity threshold, it is determined that the temporary stop and return time has arrived.

[0163] In another example, a fast search algorithm (such as a fast A* detection algorithm) can be used to perform a fast search calculation on multiple target postures within a preset range of the first road section with the current vehicle posture as the starting point. If the series of calculations are successful and are not interrupted by the search collision, it is determined that the time to stop and return has been reached.

[0164] S507, tracking the temporary stop return path.

[0165] For example, algorithms such as PP control, Stanley control, PID control, and model predictive control may be used to track the temporary stop return path.

[0166] S508, determining whether the vehicle returns successfully.

[0167] When the vehicle travels to the target posture 2, it is determined that the vehicle returns successfully (S509); otherwise, it is determined that the vehicle returns failed (S510).

[0168] S509, temporary stop and return successful.

[0169] S510, temporary stop return failed.

[0170] Exemplarily, after the vehicle returns from a temporary stop successfully, the parking cruise path planning continues to be executed.

[0171] To help readers better understand the relationship between methods 400 and 500 and parking control provided in the embodiments of this application, the following describes how tasks are switched during the process of parking a vehicle in a target parking area, using Figure 8. It should be noted that a task is an abstract concept representing a time slice of a thread. There is a one-to-one correspondence between tasks and thread time slices; that is, each time slice of a thread is a task.

[0172] The method 600 shown in FIG8 can be applied to the intelligent driving device shown in FIG1, or the method can be performed by the system shown in FIG2. For example, the method can be performed by the planning module 220. The method 600 can include S601 to S612.

[0173] S601, cruise mission operation.

[0174] For example, the cruise mission can be executed by the cruise planning module 221 shown in Figure 2. The cruise mission execution enables the vehicle to travel along the parking cruise path. The planning method of the parking cruise path can refer to the relevant description of the planning of the temporary parking path and the temporary parking return path, and will not be repeated here.

[0175] S602: Determine whether the vehicle has been stationary for longer than a preset time period 3.

[0176] In some implementations, the environment surrounding the vehicle is too complex, which may cause path planning to exceed the capability limit of the algorithm used for path planning in the vehicle, causing the vehicle to be stationary for an excessively long time.

[0177] Exemplarily, the preset duration 3 may be 5 minutes, or 6 minutes, or may be other durations. Exemplarily, the preset duration 3 is greater than the preset duration 2, and the preset duration 2 is greater than the preset duration 1.

[0178] Specifically, when the vehicle stationary time exceeds a preset time of 3, it is determined that the cruise mission is completed; otherwise, S603 is executed.

[0179] S603', mission completed.

[0180] S603: Determine whether the distance between the vehicle and the target parking area is less than or equal to a preset distance.

[0181] For example, the distance between the vehicle and the target parking area may be the shortest distance between the outer contour of the vehicle and the boundary of the target parking area, or may be the distance between the center of the vehicle and the center of the target parking area.

[0182] Exemplarily, the preset distance may be 3 meters, or 5 meters, or other distances.

[0183] Specifically, when the distance between the vehicle and the target parking area is less than or equal to the preset distance, execute S604; otherwise, execute S607.

[0184] S604, switching to the automatic parking task.

[0185] For example, the automatic parking task may be executed by the parking planning module 223 shown in FIG. 2 , and the automatic parking task is executed so that the vehicle drives toward the target parking area.

[0186] S605 , determining whether parking into the target parking area fails.

[0187] Specifically, when parking into the target parking area fails, execute S601 ; otherwise, execute S606 .

[0188] S606, end the parking process.

[0189] For example, after the parking process is completed, the vehicle is powered off and the engine is turned off.

[0190] S607, determining whether the escape condition is met.

[0191] Specifically, if the escape condition is met, execute S608; otherwise, execute S601.

[0192] S608, switch to the escape mission.

[0193] For example, the escape mission may be executed by the escape planning module 222 shown in FIG. 2 , and the escape mission is executed so that the vehicle can travel along the escape planning path.

[0194] S609, determining whether the escape attempt has failed.

[0195] For example, when the vehicle cannot escape from the jam, it is determined that the escape has failed; when the vehicle escapes from the jam, it is determined that the escape has succeeded.

[0196] Specifically, when escaping fails, execute S610; otherwise, execute 601.

[0197] S610, switch to the temporary stop task.

[0198] For example, the temporary stop task can be executed by the temporary stop planning module 224 shown in Figure 2. The temporary stop task execution causes the vehicle to travel along the temporary stop path to the target temporary stop area. A more specific method of controlling the vehicle to travel to the target temporary stop area can be referred to the description of method 400 and will not be repeated here.

[0199] S611, determine whether the temporary stop fails.

[0200] The reasons for the temporary stop failure can be referred to the description in method 400 and will not be repeated here.

[0201] Specifically, when the temporary stop fails, execute S601; otherwise, execute S612.

[0202] S612, switch to the temporary stop and return task.

[0203] For example, the temporary stop return task can be executed by the temporary stop return planning module 225 shown in Figure 2. The temporary stop return task is executed so that the vehicle exits the target temporary stop area. A more specific method for controlling the vehicle to exit the target temporary stop area can be referred to the description of method 500 and will not be repeated here.

[0204] S613, determining whether the temporary stop return fails.

[0205] The reasons for the temporary stop failure can be referred to the description in method 500 and will not be repeated here.

[0206] Specifically, when the temporary stop return fails, execute S610; otherwise, execute S601.

[0207] The automatic parking method provided in the embodiment of the present application can switch between multiple tasks according to the actual road conditions during the automatic parking process, thereby improving the parking success rate. In addition, the automatic parking method in the above embodiment also helps to improve the human-like degree of automatic parking.

[0208] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0209] The automatic parking method provided by the embodiment of the present application is described in detail above with reference to Figures 1 to 8 . The automatic parking device provided by the embodiment of the present application will be described in detail below with reference to Figures 9 and 10 . It should be understood that the description of the automatic parking device embodiment corresponds to the description of the method embodiment. Therefore, any details not described in detail can be referred to above in the method embodiment and will not be repeated here for the sake of brevity.

[0210] FIG9 shows a schematic block diagram of an automatic parking device 2000 provided in an embodiment of the present application. The device 2000 may include units for executing methods 300, 400, 500, and 600. Furthermore, each unit in the device 2000 is configured to implement the corresponding processes of the embodiments of methods 300, 400, 500, and 600.

[0211] Specifically, the device 2000 includes a determining unit 2010 and a processing unit 2020. The determining unit 2010 is configured to: during the process of an intelligent driving device driving along a first planned path in a first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue driving along the first planned path within a first time period, determine a first target temporary parking area, the first target temporary parking area being within a first range of the intelligent driving device, and a distance between the first target temporary parking area and a first boundary of the first road section being less than or equal to a first threshold; and the processing unit 2020 is configured to: control the intelligent driving device to park in the first target temporary parking area.

[0212] In some implementations, the device further includes an acquisition unit, which is used to: acquire information of one or more temporary parking areas, where the one or more temporary parking areas are located within a first range of the intelligent driving device, and the distance between each of the one or more temporary parking areas and the first boundary is less than or equal to a first threshold; the determination unit 2010 is used to: determine a first target temporary parking area from the one or more temporary parking areas based on the location and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined based on the parking space structure line.

[0213] In some implementations, one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined based on the parking space structure line, and the second temporary parking area is not a temporary parking area determined based on the parking space structure line; the determination unit 2010 is used to: determine the first temporary parking area as the first target temporary parking area.

[0214] In some implementations, the determination unit 2010 is further used to: when the intelligent driving device fails to park in the first target temporary parking area, determine a second planned path based on obstacles in the first road section; the processing unit 2020 is further used to: control the intelligent driving device to travel along the second planned path.

[0215] In some implementations, after the intelligent driving device parks in the first target temporary parking area, the processing unit 2020 is further used to: control the intelligent driving device to enter the first target parking exit area according to the road boundary of the first road section, and the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

[0216] In some implementations, the processing unit 2020 is further used to: when the intelligent driving device fails to enter the first target parking area, control the intelligent driving device to park in the second target temporary parking area, the second target temporary parking area is located within the second range of the intelligent driving device, and the distance between the second target temporary parking area and the second boundary of the first road section is less than or equal to the second threshold.

[0217] In some implementations, the first planned path is any one of the following: a path indicating that the intelligent driving device travels from the current position to the target parking area, a path indicating that the intelligent driving device travels from the target parking area to the position of the driver of the intelligent driving device, or a path indicating that the intelligent driving device travels from a third temporary parking area to a target parking exit area; wherein the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

[0218] Exemplarily, the determination unit 2010 and the processing unit 2020 may be provided in the system shown in FIG2 . More specifically, the determination unit 2010 may be provided in the planning module 220 , and the processing unit 2020 may be provided in the control module 230 . Exemplarily, the operations performed by the determination unit 2010 and the processing unit 2020 may be performed by a single processor, or by different processors. In a specific implementation, the one or more processors may be provided in the intelligent driving device 100 shown in FIG1 ; alternatively, the apparatus 2000 may be provided in a chip within the intelligent driving device 100 .

[0219] In a specific implementation process, the various units in the above apparatus may be fully or partially integrated together, or may also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0220] Figure 10 is another schematic block diagram of an automatic parking device provided in an embodiment of the present application. The automatic parking device 2100 shown in Figure 10 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are interconnected via an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods described in the aforementioned embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0221] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to implement communication between the device 2100 and other devices or a communication network.

[0222] Memory 2130 may be a volatile memory and / or a non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM may be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0223] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2110 and other devices or communication networks to receive / send data / information used to implement the methods in the above embodiments.

[0224] An embodiment of the present application further provides a computing platform, which includes the automatic parking device 2000 or the automatic parking device 2100 in the above embodiment.

[0225] An embodiment of the present application further provides an intelligent driving device, which includes the computing platform in the above embodiment; or, the intelligent driving device includes the automatic parking device 2000 or the automatic parking device 2100 in the above embodiment.

[0226] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0227] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0228] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0229] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0230] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0231] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0232] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0233] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0234] 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 units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0235] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0236] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An automatic parking method, characterized in that: include: During the process of the intelligent driving device driving along the first planned path in the first road section, when the intelligent driving device is blocked by a first obstacle and cannot continue to drive along the first planned path within a first time period, determining a first target temporary stopping area, the first target temporary stopping area is located within a first range of the intelligent driving device, and a distance between the first target temporary stopping area and a first boundary of the first road section is less than or equal to a first threshold; Control the intelligent driving device to park in the first target temporary parking area.

2. The method according to claim 1, characterized in that The method further comprises: Acquire information of one or more temporary stopping areas, where the one or more temporary stopping areas are located within the first range of the intelligent driving device, and a distance between each of the one or more temporary stopping areas and the first boundary is less than or equal to the first threshold; The determining of the first target temporary parking area includes: The first target temporary parking area is determined from the one or more temporary parking areas according to the position and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined according to the parking space structure line.

3. The method according to claim 2, characterized in that The one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; The determining the first target temporary parking area from one or more temporary parking areas includes: The first temporary parking area is determined as a first target temporary parking area.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When the intelligent driving device fails to park in the first target temporary parking area, determining a second planned path according to obstacles in the first road section; Control the intelligent driving device to travel along the second planned path.

5. The method according to any one of claims 1 to 3, characterized in that The method further comprises: According to the road boundary of the first road section, the intelligent driving device is controlled to enter a first target parking exit area, where the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

6. The method according to claim 5, characterized in that The method further comprises: When the intelligent driving device fails to enter the first target parking exit area, the intelligent driving device is controlled to park in a second target temporary parking area, where the second target temporary parking area is located within a second range of the intelligent driving device, and a distance between the second target temporary parking area and a second boundary of the first road section is less than or equal to a second threshold.

7. The method according to any one of claims 1 to 6, characterized in that The first planned path is any one of the following: a path for the intelligent driving device to travel from a current position to a target parking area, a path for the intelligent driving device to travel from the target parking area to a position where a driver of the intelligent driving device is located, or a path for the intelligent driving device to travel from a third temporary parking area to a target parking exit area; Among them, the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

8. An automatic parking device, characterized in that: include: a determining unit, configured to determine a first target temporary stopping area when the intelligent driving device is unable to continue to drive along the first planned path within a first time period due to being blocked by a first obstacle during the process of the intelligent driving device driving along the first planned path in the first road section, the first target temporary stopping area being located within a first range of the intelligent driving device, and a distance between the first target temporary stopping area and a first boundary of the first road section being less than or equal to a first threshold; A processing unit is used to control the intelligent driving device to park in the first target temporary parking area.

9. The device according to claim 8, characterized in that The device further comprises an acquisition unit, wherein the acquisition unit is configured to: Acquire information of one or more temporary stopping areas, where the one or more temporary stopping areas are located within the first range of the intelligent driving device, and a distance between each of the one or more temporary stopping areas and the first boundary is less than or equal to the first threshold; The determination unit is used to determine the first target temporary parking area from the one or more temporary parking areas according to the position and / or type of each temporary parking area; wherein the type of the temporary parking area indicates whether the temporary parking area is determined according to the parking space structure line.

10. The device according to claim 9, characterized in that The one or more temporary parking areas include a first temporary parking area and a second temporary parking area, the first temporary parking area is a temporary parking area determined according to the parking space structure line, and the second temporary parking area is not a temporary parking area determined according to the parking space structure line; The determining unit is used to determine the first temporary parking area as a first target temporary parking area.

11. The device according to any one of claims 8 to 10, characterized in that The determining unit is further configured to: When the intelligent driving device fails to park in the first target temporary parking area, determining a second planned path according to obstacles in the first road section; The processing unit is also used to: control the intelligent driving device to travel along the second planned path.

12. The device according to any one of claims 8 to 10, characterized in that The processing unit is also used for: According to the road boundary of the first road section, the intelligent driving device is controlled to enter a first target parking exit area, where the first target parking exit area is used for the intelligent driving device to continue driving in the first road section.

13. The device according to claim 12, characterized in that The processing unit is also used for: When the intelligent driving device fails to enter the first target parking exit area, the intelligent driving device is controlled to park in a second target temporary parking area, where the second target temporary parking area is located within a second range of the intelligent driving device, and a distance between the second target temporary parking area and a second boundary of the first road section is less than or equal to a second threshold.

14. The device according to any one of claims 8 to 13, characterized in that The first planned path is any one of the following: a path for the intelligent driving device to travel from a current position to a target parking area, a path for the intelligent driving device to travel from the target parking area to a position where a driver of the intelligent driving device is located, or a path for the intelligent driving device to travel from a third temporary parking area to a target parking exit area; Among them, the third temporary parking area is the area where the intelligent driving device is parked before traveling along the first planned path.

15. An automatic parking device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 7.

16. An intelligent driving device, characterized in that: The intelligent driving device comprises the apparatus as claimed in any one of claims 8 to 15.

17. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 7.

18. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 7.

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