Intelligent driving method, intelligent driving apparatus, and intelligent driving device

Abstract

An intelligent driving method, an intelligent driving apparatus, and an intelligent driving device. The method comprises: on the basis of information of an obstacle around an intelligent driving device and surrounding environment information of the intelligent driving device, determining at least two categories of temporary parking spots, wherein the environment information comprises parking spot information and / or road structure information, the at least two categories of temporary parking spots comprise a first category of parking spots and a second category of parking spots, the first category of parking spots are parking spots generated on the basis of the obstacle information, and the second category of parking spots are parking spots generated on the basis of the parking spot information and / or the road structure information; and controlling the intelligent driving device to park in a target temporary parking spot, the at least two categories of temporary parking spots comprising the target temporary parking spot. The technical solution of the present application can be applied to the field of intelligent vehicles such as electric vehicles and new energy vehicles; and in scenarios where a vehicle meets an oncoming vehicle on a narrow road or needs to avoid an obstacle, a more rational temporary stopping position can be determined, thereby enhancing the human-likeness and intelligence of vehicles.

Description

Intelligent driving method, device for intelligent driving, and intelligent driving equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 28, 2023, with application number 202311852226.X and invention name “Intelligent Driving Method, Device for Intelligent Driving 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 smart cars, and more specifically, to an intelligent driving method, an apparatus for intelligent driving, and an intelligent driving device. Background Art

[0003] With the rapid development of the automotive industry, a wide range of assisted driving and autonomous driving technologies have emerged, reducing driving stress and improving safety and efficiency. While driving or parking in autonomous mode, a vehicle may encounter narrow lanes, such as narrow intersections or obstacle avoidance situations. In these situations, the vehicle may be blocked by an obstacle, causing the automated parking process to terminate, leaving it stranded on the road and impeding traffic.

[0004] In view of this, an intelligent driving solution that can improve vehicle flexibility is in urgent need of development. Summary of the Invention

[0005] The present application provides an intelligent driving method, an apparatus for intelligent driving, and an intelligent driving device, which can determine a more reasonable temporary parking position when a vehicle encounters scenarios such as narrow road passing and obstacle avoidance, thereby improving the humanization and intelligence of the vehicle, and helping to reduce the probability of the vehicle being blocked by obstacles and obstructing traffic.

[0006] In a first aspect, an intelligent driving method is provided. The method can be executed by an intelligent driving device, or by a computing platform of the intelligent driving device, or by a chip or circuit disposed in the computing platform. The method includes: determining at least two types of temporary parking spaces based on obstacle information around the intelligent driving device and environmental information around the intelligent driving device; wherein the environmental information includes parking space information and / or road structure information, and the at least two types of temporary parking spaces include at least one of a first type of parking space, a second type of parking space, and a third type of parking space, wherein the first type of parking space is a parking space generated based on the obstacle information, the second type of parking space is a parking space generated based on the environmental information, and the third type of parking space is an empty parking space determined based on the parking space information; and controlling the intelligent driving device to park in a target temporary parking space, wherein the at least two types of temporary parking spaces include the target temporary parking space.

[0007] In some implementations, the at least two types of temporary parking spaces include first-type parking spaces and second-type parking spaces.

[0008] In the above technical solution, multiple types of parking spaces can be determined as alternative parking spaces for the intelligent driving device when the intelligent driving device is temporarily parked based on the obstacle information and / or environmental information around the intelligent driving device. This allows the intelligent driving device to have more temporary parking options when it is blocked by obstacles during driving or parking, thereby avoiding obstacles in a more flexible and human-like manner.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: determining a first obstacle based on the obstacle information, the first obstacle being the obstacle closest to the intelligent driving device in the first area, the first area being located directly in front of the intelligent driving device and / or the first area being located in front of the main driving side away from the intelligent driving device, or the first area being located directly behind the intelligent driving device and / or the first area being located in the rear of the main driving side away from the intelligent driving device; generating a first temporary parking space based on the first obstacle, the first temporary parking space being located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle being greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space being a first-class parking space.

[0010] In the above technical solution, determining a temporary parking space based on the front or rear of the vehicle, or the front or rear side away from the main driver's side, helps to improve the human-like nature of intelligent driving equipment when avoiding obstacles.

[0011] In combination with the first aspect, in certain implementations of the first aspect, when the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to the first angle threshold.

[0012] In the above technical solution, when the obstacle is a vehicle, the central axis of the generated temporary parking space is made parallel to the central axis of the vehicle or the angle between them is less than a certain threshold. After the intelligent driving device parks in the temporary parking space, parking out will be smoother and more convenient.

[0013] In some implementations, when the first obstacle is other than a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the first temporary parking space and the central axis of the intelligent driving device is less than or equal to a certain angle threshold. This helps reduce the difficulty of the intelligent driving device parking in the temporary parking space.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the main driving seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

[0015] In the above technical solution, a temporary parking space closer to the co-pilot side is generated based on obstacles, which complies with traffic regulations. When the intelligent driving device is parked in the temporary parking space, it helps to reduce obstruction to road traffic and is also consistent with the habits of human drivers when choosing temporary parking spaces.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: determining a third road boundary based on parking space information and / or road structure information; generating a second temporary parking space based on the third road boundary, the second temporary parking space being located in front of or behind the intelligent driving device, the second temporary parking space not overlapping or partially overlapping with the current position of the intelligent driving device, the distance between the second temporary parking space and the third road boundary being greater than or equal to a third distance threshold and less than a fourth distance threshold, and the second temporary parking space being a second-class parking space.

[0017] In the above technical solution, temporary parking spaces are determined according to road boundaries, which is similar to the habit of human drivers in selecting temporary parking spaces, and helps to improve the humanity and intelligence of intelligent driving equipment.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to the second angle threshold.

[0019] In the above technical solution, the position of the temporary parking space is determined according to the central axis of the intelligent driving device, which helps to reduce the difficulty of the intelligent driving device in parking the temporary parking space.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the distance between the third road boundary and the main driving seat of the intelligent driving device is greater than the distance between the third road boundary and the co-pilot seat of the intelligent driving device.

[0021] In the above technical solution, a temporary parking space closer to the co-pilot side is generated according to the road boundary, which complies with traffic regulations. When the intelligent driving device is parked in the temporary parking space, it helps to reduce the obstruction to road traffic and is also consistent with the habits of human drivers when choosing temporary parking spaces.

[0022] In combination with the first aspect, in certain implementations of the first aspect, determining at least two types of temporary parking spaces includes: determining at least two types of temporary parking spaces when the intelligent driving device meets the target vehicle.

[0023] In some implementations, the target parking space may serve as the first obstacle.

[0024] In the above technical solution, during the process of the intelligent driving device meeting other vehicles, starting the intelligent driving method process of the present application helps to improve the intelligence and human-likeness of the intelligent driving device during the meeting process, and improve the efficiency and safety of the meeting.

[0025] In combination with the first aspect, in certain implementations of the first aspect, before controlling the intelligent driving device to park in the target temporary parking space, the method also includes: determining the target temporary parking space based on the degree of obstruction of each temporary parking space in at least two types of temporary parking spaces to the road where the intelligent driving device is located.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: controlling the display device to display at least two types of temporary parking spaces.

[0027] Exemplarily, the display device may be a human machine interface (HMI) of an intelligent driving device, or may be other vehicle-mounted display screens.

[0028] In the above technical solution, by displaying at least two types of temporary parking spaces, the user can be reminded that a temporary parking event is occurring, thereby improving the interactivity between the user and the intelligent driving device during the temporary parking process, which helps to improve the user's driving experience.

[0029] In a second aspect, a device for intelligent driving is provided, which includes a determination unit for determining at least two types of temporary parking spaces based on obstacle information around the intelligent driving device and environmental information around the intelligent driving device; wherein the environmental information includes parking space information and / or road structure information, and at least one temporary parking space includes at least one of a first type of parking space, a second type of parking space, and a third type of parking space, the first type of parking space is a parking space generated based on the obstacle information, the second type of parking space is a parking space generated based on the parking space information and / or road structure information, and the third type of parking space is an empty parking space determined based on the parking space information; a processing unit is used to control the intelligent driving device to park in a target temporary parking space, and the at least two types of temporary parking spaces include the target temporary parking space.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is further used to: determine a first obstacle based on the obstacle information, the first obstacle being the obstacle closest to the intelligent driving device in the first area, the first area being located directly in front of the intelligent driving device and / or the first area being located in front of the main driving side away from the intelligent driving device, or the first area being located directly behind the intelligent driving device and / or the first area being located in the rear of the main driving side away from the intelligent driving device; the device also includes a generation unit for: generating a first temporary parking space based on the first obstacle, the first temporary parking space being located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle being greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space being a first-class parking space.

[0031] In combination with the second aspect, in certain implementations of the second aspect, when the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to the first angle threshold.

[0032] In combination with the second aspect, in some implementations of the second aspect, the first obstacle is a vehicle traveling in a direction opposite to that of the intelligent driving device.

[0033] In combination with the second aspect, in certain implementations of the second aspect, the distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the main driving seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

[0034] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is further used to: determine a third road boundary based on parking space information and / or road structure information; the device also includes a generation unit, used to: generate a second temporary parking space based on the third road boundary, the second temporary parking space is located in front of or behind the intelligent driving device, the second temporary parking space does not overlap or partially overlaps with the current position of the intelligent driving device, the distance between the second temporary parking space and the third road boundary is greater than or equal to the third distance threshold and less than the fourth distance threshold, and the second temporary parking space is a second-class parking space.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to the second angle threshold.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the distance between the third road boundary and the main driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

[0037] In combination with the second aspect, in certain implementations of the second aspect, the determination unit is further used to: before the processing unit controls the intelligent driving device to park in the target temporary parking space, determine the target temporary parking space based on the degree of blockage of each temporary parking space in at least two types of temporary parking spaces to the road where the intelligent driving device is located.

[0038] In combination with the second aspect, in certain implementations of the second aspect, the processing unit is further used to: control the display device to display at least two types of temporary parking spaces.

[0039] In a third aspect, a device for intelligent driving 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 performs a method as in any possible implementation of the first aspect.

[0040] 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.

[0041] In combination with the fourth aspect, in some implementations of the fourth aspect, the intelligent driving device is a vehicle.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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

[0046] FIG1 is a functional schematic block diagram of an intelligent driving device provided in an embodiment of the present application;

[0047] FIG2 is a schematic diagram of the architecture of an intelligent driving system provided in an embodiment of the present application;

[0048] FIG3 is a schematic flowchart of an intelligent driving method provided in an embodiment of the present application;

[0049] FIG4 is a schematic diagram of an application scenario of the intelligent driving method provided in an embodiment of the present application;

[0050] FIG5 is another schematic diagram of an application scenario of the intelligent driving method provided in an embodiment of the present application;

[0051] FIG6 is another schematic flowchart of the intelligent driving method provided in an embodiment of the present application;

[0052] FIG7 is a schematic block diagram of an apparatus for intelligent driving provided in an embodiment of the present application;

[0053] FIG8 is another schematic block diagram of the apparatus for intelligent driving provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] To facilitate understanding of the solutions of the embodiments of the present application, the following introduces the concepts involved in the present application:

[0055] 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, a display device 130, 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, which 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 lidar, a millimeter-wave radar, an ultrasonic radar, and a camera. In the present application, the camera may include, but is not limited to, a fisheye camera, a wide-angle camera, a camera may include a red, green, and blue / infrared (RGB / IR) camera, or a depth camera, such as a time of flight (TOF) camera, a binocular camera, a structured light camera, and the like.

[0056] 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.

[0057] The display device 130 in the cockpit is mainly divided into two categories: the first is the vehicle-mounted display screen; the second is a projection display screen, such as a head-up display (HUD). The vehicle-mounted display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cockpit, such as the digital instrument panel and the central control screen. A head-up display, also known as a head-up display system, is primarily used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's gaze shift time, avoids pupil changes caused by the driver's gaze shift, and improves driving safety and comfort. HUDs include, for example, combined head-up display (C-HUD) systems, windshield head-up display (W-HUD) systems, and augmented reality head-up display (AR-HUD) systems. The display device may also include a human-machine interface (HMI) to prompt the user when switching between planning modes.

[0058] 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.

[0059] 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.

[0060] 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 described above can have specific modes at different autonomous driving levels (L0-L5), with higher autonomous driving levels corresponding to more intelligent modes. For example, automated parking can include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP). With APA, the driver does not need to operate the steering wheel, but still needs to operate the intelligent driving device to monitor its status in real time. With RPA, the driver can use a terminal (such as a mobile phone) to remotely park the intelligent driving device from outside the intelligent driving device. With AVP, the intelligent driving device can complete parking without a driver. In terms of corresponding autonomous driving levels, APA is approximately at the L2 level, RPA is approximately at the L2-L3 level, and AVP is approximately at the L4 level.

[0061] In this embodiment of the present application, the computing platform 150 can generate multiple temporary parking spaces based on the obstacle information obtained by the perception system 120 and display the multiple temporary parking spaces to the user via a display device. Furthermore, the computing platform 150 can select a temporary parking space from the multiple temporary parking spaces and control the intelligent driving device to park in the temporary parking space.

[0062] 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 can be a vehicle, which is a vehicle in a broad sense, and can be a 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 mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle. For ease of understanding, the following description is based on the intelligent driving device being a vehicle as an example.

[0063] FIG2 shows a schematic diagram of the intelligent driving system architecture provided by an embodiment of the present application. As shown in FIG2 , the system includes a perception module 210, a regulation and control module 220, a prompt module 230, and an actuator 240. The perception module 210 may include one or more sensors in the perception system 120 shown in FIG1 , the regulation and control module 220 may include one or more processors in the computing platform 150 shown in FIG1 , and the prompt module 230 may include one or more of the display devices 130 shown in FIG1 . The regulation and control module 220 includes a temporary parking space generation module 221 and a temporary parking path planning module 222. The temporary parking space generation module 221 can generate one or more temporary parking spaces based on the perception results of the perception module 210. The temporary parking path planning module 222 can select a target temporary parking space from the one or more temporary parking spaces and plan the vehicle's driving path from the current position to the target temporary parking space. The temporary parking path planning module 222 can also calculate the corresponding control amount based on the planned driving path and output the above control amount to the actuator 240. When the actuator 240 executes the control amount, the vehicle is controlled to travel along the planned path. In some possible implementations, the actuator may include a steering and braking control system in the intelligent driving device 100. Furthermore, the temporary parking space generation module 221 may also send information about the generated one or more temporary parking spaces to the parking space display module 231 in the prompt module 230, so that the parking space display module 231 displays the one or more temporary parking spaces.

[0064] More specifically, the camera in the perception module 210 can capture images of the vehicle's surroundings, and the detection sensors (such as lidar and millimeter-wave radar) in the perception module 210 can detect obstacles around the vehicle. Furthermore, the perception module 210 transmits the images of the vehicle's surroundings and / or the detected obstacle information around the vehicle to the temporary parking space generation module 221.

[0065] The temporary parking space generation module 221 can process the image and determine the visual parking spaces around the vehicle based on the parking space line information. It can then identify one or more available parking spaces from the visual parking spaces as temporary parking spaces. Available parking spaces can be understood as parking spaces that are not occupied by obstacles and / or not encroached upon by obstacles. The temporary parking space generation module 221 can also generate n temporary parking spaces based on the visual parking spaces. Furthermore, based on the obstacle information around the vehicle, the temporary parking space generation module 221 can also generate m temporary parking spaces between obstacles and the vehicle that are proximate to the vehicle. Furthermore, the temporary parking space information determined and / or generated by the temporary parking space generation module 221 is sent to the temporary parking path planning module 222 and the parking space display module 231, respectively, so that the temporary parking path planning module 222 selects a parking space from the temporary parking spaces as the target temporary parking space, and the parking space display module 231 can display the temporary parking space information.

[0066] It should be understood that the above modules are only examples, and 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 temporary parking space generation module 221 and the temporary parking path planning module 222 can be combined into one module.

[0067] The above describes the intelligent driving system provided by the present application in combination with Figures 1 and 2. The following describes in detail the intelligent driving method provided by the present application.

[0068] Figure 3 shows a schematic flow chart of an intelligent driving method according to an embodiment of the present application. Method 300 shown in Figure 3 can be executed by intelligent driving device 100 shown in Figure 1 , for example, by computing platform 150 ; alternatively, method 300 can be executed by the system shown in Figure 2 . Specifically, method 300 can include some or all of steps S310 through S370 .

[0069] S310: Acquire images of the surroundings of the vehicle captured by a camera device, and determine M visual parking spaces based on the images.

[0070] Exemplarily, the camera device may include one or more camera devices in the perception system 120 , for example, the camera device may include one or more of the following: a front-view camera, a rear-view camera, and a side-view camera.

[0071] For example, the image includes multiple fisheye images, and determining M visual parking spaces based on the images may include: performing inverse perspective mapping (IPM) on the multiple fisheye images and then stitching them together, detecting the stitched images, and extracting the M visual parking spaces based on features such as parking space lines, parking space corners, and parking space opening edges, where M is an integer greater than or equal to 1.

[0072] In some implementations, if there is no visual parking space in the image, the road boundary of the road the vehicle is traveling on may also be determined based on the image. For example, the road boundary may be determined based on the road shoulder (e.g., hard shoulder, soft shoulder) in the image, or the road boundary may be determined based on the green belt or median belt in the image.

[0073] S320: Obtain obstacle information around the vehicle.

[0074] Exemplarily, the obstacle information may be collected by a detection sensor of the vehicle, which may include, for example, various radar sensors, or infrared sensors, etc.

[0075] S330: Select N available parking spaces from the M visual parking spaces as temporary parking spaces based on the obstacle information.

[0076] For example, when an obstacle intrudes into the visual parking space, that is, when the position of the obstacle overlaps with the position of the visual parking space, the visual parking space is determined to be an unparkable space; otherwise, the parking space is determined to be a parking space.

[0077] For example, as shown in (a) in FIG4 , assuming that vehicle 11 enters from entrance gate 12 , during parking cruising in the parking lot, an image of area 16 can be obtained, and based on the image of area 16 , it is determined that there are four visual parking spaces, and then it is determined that there are no parking spaces based on the obstacle information.

[0078] S340: Generate P temporary parking spaces based on the M visual parking spaces and / or road boundaries.

[0079] Wherein, P can be an integer greater than or equal to 1.

[0080] In some implementations, road boundary 1 can be determined based on visual parking spaces and / or road structure information, and a temporary parking space can be generated in front of and behind the vehicle based on road boundary 1, wherein the minimum distance between the temporary parking space and road boundary 1 is greater than or equal to distance threshold 1 and less than distance threshold 2. The minimum distance between the temporary parking space and the road boundary can be understood as the distance between the nearest edge or corner of the temporary parking space to the road boundary and the road boundary.

[0081] For example, the temporary parking space may partially overlap or not overlap with the vehicle's current location. For example, the distance between each of the P temporary parking spaces and the vehicle in a direction parallel to the vehicle's central axis may be greater than or equal to a preset threshold. For example, the preset threshold may be 15 centimeters or 20 centimeters.

[0082] For example, distance threshold 1 may be 5 centimeters or 10 meters, or other values; distance threshold 2 may be 20 centimeters or 30 centimeters, or other values. In a specific implementation, distance threshold 2 may be determined based on the width of the road the vehicle is currently on.

[0083] In some implementations, the central axis of any one of the P temporary parking spaces may be parallel to the road boundary 1 , or the central axis of any one of the P temporary parking spaces may also be parallel to the central axis of the vehicle.

[0084] In the embodiment of the present application, the central axis of the temporary parking space may be a straight line passing through the center point of the temporary parking space and parallel to the longer side of the temporary parking space.

[0085] In some implementations, the distance between road boundary 1 and the driver's seat of the vehicle is greater than the distance between road boundary 1 and the passenger seat of the vehicle. That is, if the vehicle is left-hand drive, road boundary 1 may be located on the right side of the vehicle; if the vehicle is right-hand drive, road boundary 1 may be located on the left side of the vehicle.

[0086] For example, as shown in (a) in Figure 4, when the vehicle 11 is a left-hand drive vehicle, the road boundary a can be determined based on the visual parking space in the area 16, and then a temporary parking space 18 is generated in front of the vehicle 11. The minimum distance between the temporary parking space 18 and the road boundary a is greater than or equal to the distance threshold 1 and less than the distance threshold 2.

[0087] For another example, as shown in (b) in FIG4 , when the vehicle 11 is a right-hand drive vehicle, the road boundary b can be determined based on the wall 15, and then a temporary parking space c' and a temporary parking space d are generated in front of and behind the vehicle, respectively. The minimum distances between the temporary parking space c' and the temporary parking space d and the road boundary b (i.e., the wall 15) are both greater than or equal to the distance threshold 1 and less than the distance threshold 2. In addition, the distance between the temporary parking space c' and the vehicle 11 in the direction parallel to the center axis of the vehicle, and the distance between the temporary parking space d and the vehicle 11 are both b. Since the position of the temporary parking space c' coincides with that of the vehicle 14, the posture of the temporary parking space c' can be adjusted to the temporary parking space c according to the position of the vehicle 14, so that the generated temporary parking space c is in a parkable state.

[0088] S350: Determine at least one obstacle adjacent to the vehicle based on the obstacle information, and generate Q temporary parking spaces based on the at least one obstacle.

[0089] Wherein, Q can be an integer greater than or equal to 1.

[0090] Exemplarily, the at least one obstacle may include the obstacle closest to the vehicle, or may also include the obstacle closest to the vehicle in the direction of travel of the vehicle; or may also include the obstacle closest to the front or rear side of the vehicle.

[0091] In some implementations, the distance between each of the Q temporary parking spaces and road boundary 2 is greater than the distance between each of the Q temporary parking spaces and road boundary 3. Road boundary 2 is the boundary proximate to the vehicle's driver's seat, and road boundary 3 is the boundary proximate to the vehicle's passenger seat. The distance between the temporary parking space and the road boundary can be the distance between the center point of the temporary parking space and the road boundary, or the distance between the central axis of the temporary parking space and the road boundary.

[0092] For example, when the vehicle is a left-hand drive vehicle, road boundary 2 is the left boundary of the vehicle's road, and road boundary 3 is the right boundary of the vehicle's road; when the vehicle is a right-hand drive vehicle, road boundary 2 is the right boundary of the vehicle's road, and road boundary 3 is the left boundary of the vehicle's road.

[0093] In some implementations, if there is an obstacle in front of or to the side of the vehicle (or behind or to the side behind the vehicle), a temporary parking space is created between the obstacle and the vehicle based on the obstacle closest to the vehicle in front of or to the side ahead of the vehicle. For example, the side ahead (or side behind) may be the side ahead (or side behind) away from the driver's side of the vehicle.

[0094] In one example, as shown in Figure 4(a), there is a parked vehicle 14 to the left of vehicle 11. The presence of vehicles 13 and 14 hinders vehicle 11 from continuing forward. If vehicle 11 is a left-hand drive vehicle, vehicle 11 can use vehicle 13 at position 13' (hereinafter referred to as vehicle 13') as the nearest obstacle and create a temporary parking space 17 between vehicle 13' and vehicle 11. The distance between temporary parking space 17 and vehicle 13' is greater than or equal to distance threshold 3 and less than distance threshold 4.

[0095] In another example, as shown in FIG4( b ), if vehicle 11 is a right-hand drive vehicle, vehicle 11 may also use vehicle 14 as the nearest obstacle and create a temporary parking space 19 between vehicle 14 and vehicle 11. Furthermore, the position of temporary parking space 18 may be adjusted based on the position of vehicle 14. For example, the position of temporary parking space 19 may be adjusted to temporary parking space 19 ′ so that the central axis of temporary parking space 19 ′ is parallel to the central axis of vehicle 14.

[0096] In some implementations, if there is a nearest obstacle in front of and behind the vehicle, a temporary parking space is generated between the vehicle and the nearest obstacle.

[0097] As shown in Figure 5(a), for example, vehicles 21 and 22 are both left-hand drive vehicles. Vehicle 21 is traveling on the road with vehicle 22 in front of it, pedestrian 23 behind it, and multiple vehicles 24 parked to its right. As vehicles 21 and 22 meet, the presence of multiple vehicles 24 reduces the available space for vehicle 21 to maneuver. In this case, as shown in Figure 5(b), vehicle 21 can create a temporary parking space 25 between vehicles 21 and 22, and a temporary parking space 26 between vehicle 21 and pedestrian 23, based on the positions of vehicles 22 and pedestrian 23. The distance between temporary parking space 25 and vehicle 22 is greater than or equal to distance threshold 3 and less than distance threshold 4; the distance between temporary parking space 26 and vehicle 22 is greater than or equal to distance threshold 3 and less than distance threshold 4. Furthermore, the locations of temporary parking spaces 25 and 26 can also satisfy the following requirements: the distance between temporary parking spaces 25 and 26 and the roadside visual parking space is greater than or equal to distance threshold 1 and less than distance threshold 2. Alternatively, the positions of the temporary parking spaces 25 and 26 may also satisfy the requirement that the distance between the temporary parking spaces 25 and 26 and the right road boundary of the vehicle 21 is smaller than the distance between the temporary parking spaces 25 and 26 and the left road boundary of the vehicle 21 .

[0098] S360: Control the display device to display at least one temporary parking space.

[0099] The at least one temporary parking space includes at least one of the following: N parking spaces, P temporary parking spaces, or Q temporary parking spaces.

[0100] In one example, when there are no visually available parking spaces, the display device may only display P temporary parking spaces and / or Q temporary parking spaces. When there are no obstacles in front of, behind, in front of, or to the sides of the vehicle, resulting in no temporary parking spaces being generated, the display device may only display N available parking spaces and / or P temporary parking spaces.

[0101] S370: Determine a target temporary parking space from at least one temporary parking space, and control the vehicle to park in the target temporary parking space.

[0102] It should be noted that, in actual implementation, one or more of S330, S340 and S350 may be executed as appropriate.

[0103] The intelligent driving method provided in the embodiment of the present application determines multiple types of parking spaces as alternative parking spaces for the intelligent driving device when temporarily parking, so that when the intelligent driving device is blocked by obstacles during driving or parking, the obstacles can be avoided in a more flexible and human-like manner.

[0104] FIG6 shows another exemplary flowchart of an intelligent driving method provided by an embodiment of the present application. Method 600 can be executed by the intelligent driving device 100 shown in FIG1 , for example, by the computing platform 150; or method 600 can be executed by the system shown in FIG2 . Specifically, method 600 may include S610 and S620.

[0105] S610: Determine at least two types of temporary parking spaces based on obstacle information and environmental information surrounding the intelligent driving device; the environmental information includes parking space information and / or road structure information. The at least two types of temporary parking spaces include a first type of parking space and a second type of parking space, where the first type of parking space is generated based on the obstacle information, and the second type of parking space is generated based on the environmental information.

[0106] For example, the obstacle information may be collected by detection sensors of the intelligent driving device, which may include various radar sensors or infrared sensors. The parking space information and / or road structure information may be determined based on images captured by a camera of the intelligent driving device, which may include the image in method 300. The parking space information may indicate the M visual parking spaces in method 300, and the road structure information may indicate the road boundary of the road on which the intelligent driving device is traveling.

[0107] Exemplarily, the first type of parking spaces includes the Q temporary parking spaces in the above embodiment; the second type of parking spaces includes the P temporary parking spaces in the above embodiment.

[0108] In some implementations, the method includes: determining a first obstacle based on obstacle information, the first obstacle being the obstacle closest to the intelligent driving device in a first area, the first area being located directly in front of the intelligent driving device and / or the first area being located in front of the main driving side away from the intelligent driving device, or the first area being located directly behind the intelligent driving device and / or the first area being located in the rear of the main driving side away from the intelligent driving device; generating a first temporary parking space based on the first obstacle, the first temporary parking space being located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle being greater than or equal to a first distance threshold and less than a second distance threshold, and the first temporary parking space being a first-type parking space.

[0109] Exemplarily, the first distance threshold may be the distance threshold 3 in the above embodiment, and the second distance threshold may be the distance threshold 4 in the above embodiment.

[0110] In some implementations, when the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

[0111] Exemplarily, the first angle threshold may be 5 degrees (degree, °), or 3 degrees, or other values.

[0112] In some implementations, the distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the main driving seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

[0113] For example, the first road boundary may be the road boundary 2 in the above embodiment, and the second road boundary may be the road boundary 3 in the above embodiment.

[0114] For example, the first obstacle may include vehicle 13' or vehicle 14 shown in Figure 4, or vehicle 22 or pedestrian 23 shown in Figure 5. Furthermore, the first area is the area encompassing the aforementioned obstacles. When the first obstacles are vehicle 13', vehicle 14, vehicle 22, and pedestrian 23, respectively, the first temporary parking spaces may be parking space 17, parking space 19 (or 19'), parking space 25, and parking space 26, respectively.

[0115] In some implementations, the method further includes: determining a third road boundary based on parking space information and / or road structure information; generating a second temporary parking space based on the third road boundary, the second temporary parking space being located in front of or behind the intelligent driving device, the second temporary parking space not overlapping or partially overlapping with the current position of the intelligent driving device, the distance between the second temporary parking space and the third road boundary being greater than or equal to a third distance threshold and less than a fourth distance threshold, and the second temporary parking space being a second-category parking space.

[0116] In some implementations, a distance between the third road boundary and a main driving seat of the intelligent driving device is greater than a distance between the third road boundary and a co-pilot seat of the intelligent driving device.

[0117] For example, the third distance threshold may be the distance threshold 1 in the above embodiment, and the fourth distance threshold may be the distance threshold 2 in the above embodiment. The third road boundary may be the road boundary 1 mentioned above.

[0118] In some implementations, the central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to the second angle threshold.

[0119] Exemplarily, the second angle threshold may be 5°, or 3°, or other values.

[0120] Exemplarily, the second temporary parking spaces may include any one of the following: parking space 18, parking space c, and parking space d shown in FIG. 4 , and parking space 25 and parking space 26 shown in FIG. 5 .

[0121] S620: Control the intelligent driving device to park in a target temporary parking space, where at least two types of temporary parking spaces include the target temporary parking space.

[0122] In some implementations, method 600 is executed when the intelligent driving device meets a target vehicle. For example, the target vehicle may be the vehicle 22 shown in FIG. 5 .

[0123] In some implementations, the at least two types of temporary parking spaces further include a third type of parking space, where the third type of parking space is an empty parking space determined based on the parking space information. For example, the third type of parking space includes the N available parking spaces in the above embodiment.

[0124] In some implementations, the method further includes: controlling a display device to display at least two types of temporary parking spaces.

[0125] In some implementations, before controlling the intelligent driving device to park in the target temporary parking space, the method further includes: determining the target temporary parking space based on the degree of obstruction of each of at least two types of temporary parking spaces to the road where the intelligent driving device is located.

[0126] For example, the degree of road obstruction caused by a temporary parking space can be determined based on its location on the road where the intelligent driving device is located. For example, the closer the temporary parking space is to the center of the road, the higher the degree of road obstruction. Furthermore, the one with the lowest degree of road obstruction among at least two types of temporary parking spaces can be determined as the target temporary parking space.

[0127] The intelligent driving method provided in the embodiments of the present application can determine a more reasonable temporary parking position when the vehicle encounters scenarios such as narrow road passing and obstacle avoidance, thereby improving the humanization and intelligence of the vehicle, and helping to reduce the probability of the vehicle being blocked by obstacles and obstructing traffic.

[0128] 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.

[0129] The rearview mirror detection method provided by the embodiment of the present application is described in detail above with reference to Figures 1 to 6 . The rearview mirror detection device provided by the embodiment of the present application will be described in detail below with reference to Figures 7 and 8 . It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, any details not described in detail can be referred to the method embodiment above and will not be repeated here for the sake of brevity.

[0130] FIG7 shows a schematic block diagram of an apparatus 2000 for intelligent driving according to an embodiment of the present application. The apparatus 2000 may include units for executing method 300 or method 600. Furthermore, each unit in the apparatus 2000 is configured to implement the corresponding processes of the embodiments of method 300 and method 600.

[0131] The device 2000 includes a determination unit 2010 and a processing unit 2020, which can be used to implement corresponding processing functions, such as determining at least two types of temporary parking spaces and controlling the intelligent driving device to park in a target temporary parking space.

[0132] Optionally, the device 2000 may further include a transceiver unit, which can be used to implement corresponding transceiver functions, such as obtaining obstacle information around the intelligent driving device, as well as parking space information and / or road structure information.

[0133] Optionally, the device 2000 also includes a storage unit, which can be used to store instructions and / or data. The processing unit 2010 can read the instructions and / or data in the storage unit so that the device implements the relevant actions in the aforementioned method embodiments.

[0134] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, for example, the method of determining at least one temporary parking space, etc. For the sake of brevity, it will not be repeated here.

[0135] Exemplarily, the determination unit 2010 and the processing unit 2020 can be set in the system shown in Figure 2. More specifically, the above-mentioned determination unit 2010 and processing unit 2020 can be set in the regulation and control module 220. More specifically, the determination unit 2010 can be set in the temporary parking space generation module 221, and the processing unit 2020 can be set in the temporary parking path planning module 222. Exemplarily, the operations performed by the above-mentioned determination unit 2010 and processing unit 2020 can be performed by one processor, or they can also be performed by different processors. In the specific implementation process, the one or more processors can be the processors set in the intelligent driving device 100 shown in Figure 1; or the above-mentioned device 2000 can be a chip set in the intelligent driving device 100.

[0136] 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).

[0137] Figure 8 is another schematic block diagram of a device for intelligent driving provided in an embodiment of the present application. The device 2100 shown in Figure 8 may include: a processor 2110, a transceiver 2120, and a memory 2130. Among them, the processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path, the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 can be coupled to the processor 2110 through an interface, or integrated with the processor 2110.

[0138] 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.

[0139] 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).

[0140] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2100 and other devices or communication networks to receive / send data / information used to implement the methods in the above embodiments.

[0141] An embodiment of the present application further provides a computing platform, which includes the device 2000 or the device 2100 in the above embodiment.

[0142] 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 device 2000 or the device 2100 in the above embodiment.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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 intelligent driving method, characterized in that, Including: Determine at least two types of temporary parking spaces according to the obstacle information around the intelligent driving device and the environmental information around the intelligent driving device; Wherein, the environmental information includes parking space information and / or road structure information; The at least two types of temporary parking spaces include a first type of parking space and a second type of parking space. The first type of parking space is a parking space generated according to the obstacle information, and the second type of parking space is a parking space generated according to the environmental information; Control the intelligent driving device to park into a target temporary parking space, and the at least two types of parking spaces include the target temporary parking space.

2. The method according to claim 1, characterized in that The method further includes: Determine a first obstacle according to the obstacle information. The first obstacle is the obstacle closest to the intelligent driving device in a first area. The first area is located directly in front of the intelligent driving device and / or the first area is located in the side front away from the driver's side of the intelligent driving device, or the first area is located directly behind the intelligent driving device and / or the first area is located in the side rear away from the driver's side of the intelligent driving device; Generate a first temporary parking space according to the first obstacle. The first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold. The first temporary parking space is a first type of parking space.

3. The method according to claim 2, wherein When the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the included angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

4. The method according to claim 2 or 3, characterized in that, The distance between the first temporary parking space and the first road boundary is greater than the distance between the first temporary parking space and the second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Determine a third road boundary according to the parking space information and / or the road structure information; Generate a second temporary parking space according to the third road boundary. The second temporary parking space is located in front of or behind the intelligent driving device. The second temporary parking space does not overlap or partially overlaps with the current position of the intelligent driving device. The distance between the second temporary parking space and the third road boundary is greater than or equal to a third distance threshold and less than a fourth distance threshold. The second temporary parking space is a second type of parking space.

6. The method according to claim 5, characterized in that, The central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the included angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to a second angle threshold.

7. The method according to claim 5 or 6, characterized in that, The distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

8. The method according to any one of claims 1 to 7, characterized in that, The at least two types of temporary parking spaces further include a third type of parking space, and the third type of parking space is an empty parking space determined according to the parking space information.

9. The method according to any one of claims 1 to 8, characterized in that, The determination of at least two types of temporary parking spaces includes: When the intelligent driving device meets an oncoming vehicle with a target vehicle, determine the at least two types of temporary parking spaces.

10. The method according to any one of claims 1 to 9, characterized in that The method further includes: Before controlling the intelligent driving device to park into a target temporary parking space, determine the target temporary parking space according to the degree of blockage of each temporary parking space in the at least two types of temporary parking spaces to the road where the intelligent driving device is located.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Control a display device to display the at least two types of temporary parking spaces.

12. A device for intelligent driving, characterized in that, Includes: A determination unit, configured to determine at least two types of temporary parking spaces according to obstacle information around the intelligent driving device and environmental information around the intelligent driving device; Wherein, the environmental information includes parking space information and / or road structure information; The at least two types of temporary parking spaces include a first type of parking space and a second type of parking space. The first type of parking space is a parking space generated according to the obstacle information, and the second type of parking space is a parking space generated according to the parking space information and / or the road structure information; A processing unit, configured to control the intelligent driving device to park into a target temporary parking space, and the at least two types of temporary parking spaces include the target temporary parking space.

13. The device according to claim 12, wherein The determination unit is further configured to: Determine a first obstacle according to the obstacle information. The first obstacle is the obstacle closest to the intelligent driving device in a first area. The first area is in front of the intelligent driving device and / or the first area is in the side front away from the driver's side of the intelligent driving device, or the first area is behind the intelligent driving device and / or the first area is in the side rear away from the driver's side of the intelligent driving device; The device further includes a generation unit, configured to: generate a first temporary parking space according to the first obstacle. The first temporary parking space is located between the first obstacle and the intelligent driving device, and the distance between the first temporary parking space and the first obstacle is greater than or equal to a first distance threshold and less than a second distance threshold. The first temporary parking space is a first type of parking space.

14. The device according to claim 13, characterized in that, When the first obstacle is a vehicle, the central axis of the first temporary parking space is parallel to the central axis of the first obstacle, or the included angle between the central axis of the first temporary parking space and the central axis of the first obstacle is less than or equal to a first angle threshold.

15. The device according to claim 13 or 14, characterized in that The distance between the first temporary parking space and a first road boundary is greater than the distance between the first temporary parking space and a second road boundary; the first road boundary is the boundary adjacent to the driver's seat of the intelligent driving device, and the second road boundary is the boundary adjacent to the co-driver's seat of the intelligent driving device.

16. The device according to any one of claims 12 to 15, characterized in that The determination unit is further configured to: Determine a third road boundary according to the parking space information and / or the road structure information; The device further includes a generation unit, configured to: generate a second temporary parking space according to the third road boundary. The second temporary parking space is in front of or behind the intelligent driving device. The second temporary parking space does not overlap or partially overlaps with the current position of the intelligent driving device. The distance between the second temporary parking space and the third road boundary is greater than or equal to a third distance threshold and less than a fourth distance threshold. The second temporary parking space is a second type of parking space.

17. The device according to claim 16, wherein, The central axis of the second temporary parking space is parallel to the central axis of the intelligent driving device, or the included angle between the central axis of the second temporary parking space and the central axis of the intelligent driving device is less than or equal to a second angle threshold.

18. The device according to claim 16 or 17, characterized in that, The distance between the third road boundary and the driver's seat of the intelligent driving device is greater than the distance between the third road boundary and the co-driver's seat of the intelligent driving device.

19. The device according to any one of claims 12 to 18, characterized in that, The at least two types of temporary parking spaces further include a third type of parking space, and the third type of parking space is an empty parking space determined according to the parking space information.

20. The device according to any one of claims 12 to 19, characterized in that The determining unit is configured to: Determine the at least two types of temporary parking spaces when the intelligent driving device meets an oncoming vehicle with a target vehicle.

21. The device according to any one of claims 12 to 20, characterized in that, The determining unit is further configured to: Before the processing unit controls the intelligent driving device to park into a target temporary parking space, determine the target temporary parking space according to the degree of blockage of each temporary parking space in the at least two types of temporary parking spaces to the road where the intelligent driving device is located.

22. The method according to any one of claims 12 to 21, characterized in that, The processing unit is further configured to: Control a display device to display the at least two types of temporary parking spaces.

23. A device for intelligent driving, characterized in that, Comprising: A memory for storing a computer program; A processor for executing the computer program stored in the memory, so that the device executes the method according to any one of claims 1 to 11.

24. An intelligent driving device, characterized in that, The intelligent driving device includes the device according to any one of claims 12 to 23.

25. A computer-readable storage medium, characterized in that, Instructions are stored thereon, and when the instructions are executed by a processor, the processor is caused to implement the method according to any one of claims 1 to 11.

26. A chip, characterized in that, The chip includes a circuit for executing the method according to any one of claims 1 to 11.

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