Planning method and apparatus for switching from cruise to parking, and vehicle and storage medium

Abstract

A planning method and apparatus for switching from cruise to parking, and a vehicle and a storage medium. The method comprises: acquiring parking space information and road information of a user by means of a pre-established parking map, wherein the parking space information may comprise a parking space center line (L1), and the road information comprises road width information and road boundary information; determining a first boundary (BB) on the basis of the parking space center line (L1), determining a second boundary (BL) and a third boundary (BR) on the basis of the road width information and the road boundary information, and by means of the intersection of the first boundary (BB), the second boundary (BL) and the third boundary (BR), determining a parking start area (20), wherein the first boundary (BB) is at least a first distance (D1) from the parking space center line (L1); and on the basis of the parking start area (20) and a preset cruise route in the parking map, determining a planned route for a vehicle to enter the parking start area (20). By means of the method, a cruise end point of a vehicle can be set in an area conductive to parking, such that the vehicle can be seamlessly switched from a cruise stage to parking, thereby reducing the number of adjustments and improving the user experience.

Description

Cruise switching parking planning method and device, vehicle and storage medium Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and more particularly to a cruise control parking planning method and device, and a vehicle

[0002] and storage media. Background Art

[0003] With the continuous development of autonomous driving technology, users' requirements for autonomous driving technology are becoming increasingly higher. Currently, vehicles with autonomous driving functions require multiple adjustments before parking. For example, the vehicle must continue forward for a distance at the end of its cruise control and adjust the vehicle body before parking, which affects the user experience.

[0004] Application Contents

[0005] Embodiments of the present application provide a cruise switching parking planning method and device, a vehicle, and a storage medium. Through this method, the vehicle cruise endpoint can be set in an area that is conducive to parking, so that the vehicle can smoothly switch from the cruise phase to the parking phase and start parking directly, achieving seamless connection, reducing the number of times the vehicle adjusts the parking space, reducing vehicle power consumption, and improving the user experience.

[0006] In a first aspect, embodiments of the present application provide a cruise-switch parking planning method, comprising: obtaining user parking space information and road information from a pre-established parking map, wherein the parking space information may include a parking space centerline, and the road information includes road width information and road boundary information; determining a first boundary based on the parking space centerline, determining a second boundary and a third boundary based on the road width information and road boundary information, and determining a parking start area by the intersection of the first boundary, the second boundary, and the third boundary, wherein the first boundary is at least a first distance from the parking space centerline; and determining a planned route for a vehicle to enter the parking start area based on the parking start area and a pre-established cruise route in the parking map. A parking start area is defined based on the pre-established parking map for the vehicle, wherein the first boundary (i.e., the rear boundary) of the parking start area is at least the first distance from the parking space centerline. When the vehicle automatically cruises into the parking start area along the planned route, it can directly park without repositioning the vehicle, thereby reducing vehicle power consumption and improving the passenger experience.

[0007] In one possible implementation, the second boundary is at least a second distance from the left road boundary, and the third boundary is at least a third distance from the right road boundary. By setting the second boundary (i.e., the left boundary) and the third boundary (i.e., the right boundary) of the parking start area, the minimum distance between the parking start area and both road boundaries is limited. This can define a parking start area that is easy to park into, thereby making the automated parking process smoother and more efficient, improving the passenger experience.

[0008] In one possible implementation, determining a planned route for the vehicle to enter the parking start area based on the parking start area and a pre-configured cruise route in the parking map includes: modifying the cruise endpoint of the pre-configured cruise route to obtain a first cruise route, wherein the endpoint of the first cruise route is located within the parking start area; selecting a first restricted area and a second restricted area for the first cruise route; setting a driving boundary in the first restricted area based on the driving habits of the user of the first cruise route; and setting a first driving limit and a second driving limit in the second restricted area based on the second boundary and the third boundary of the parking start area, thereby obtaining a planned route for the vehicle to enter the parking start area. By modifying the cruise endpoint of the pre-configured cruise route in the parking map so that the endpoint of the modified first cruise route is located within the parking start area, the vehicle can enter the parking start area based on the modified cruise route. Based on this, by using the first cruise route, the vehicle's cruise endpoint can be located within the parking start area, eliminating the need for the vehicle to make parking adjustments (e.g., moving forward a certain distance before resuming parking) during automatic parking, thereby improving automatic parking efficiency.

[0009] In one possible implementation, modifying the cruising endpoint of the pre-configured cruising route to obtain the first cruising route includes: tracing back from the cruising endpoint of the pre-configured cruising route to determine the inflection point where the vehicle enters the terminal route while traveling in a straight line; and extending the line parallel to the road from the inflection point until the extension line enters the parking start area by the vehicle's vehicle length, thereby obtaining the first cruising route. Based on the pre-configured cruising route, an extension line parallel to the road is drawn so that the end point of the extension line is within the parking start area. Specifically, the extension line can be configured to enter the parking start area by at least the vehicle's vehicle length. This allows the vehicle to precisely enter the parking start area after cruising along the first cruising route, providing favorable conditions for subsequent automatic parking and improving parking efficiency.

[0010] In one possible implementation, selecting the first restricted area and the second restricted area for the first cruising route includes: determining the restriction end line of the second restricted area based on the endpoint of the extended line; and selecting a line at a fifth distance in the opposite direction of the extended line as the restriction start line of the first restricted area; wherein the first restricted area abuts the second restricted area at a dividing line, and the dividing line is between the restriction start line and the centerline of the parking space and at a sixth distance from the centerline of the parking space. By restricting the line preceding the cruising endpoint, a vehicle can smoothly enter the parking start area when cruising along the restricted line, thereby improving the user's riding experience.

[0011] In one possible implementation, setting the driving boundary for the first restricted area based on the user's driving habits along the first cruise route includes: determining a first intersection of the first cruise route and the restriction start line; determining a second intersection of the first cruise route and the dividing line; and connecting the first intersection with the second intersection to obtain the driving boundary of the first restricted area. By adjusting the route of the restricted area based on the user's driving habits, the adjusted cruise route can be made more consistent with the user's habits, thereby improving the user experience.

[0012] In one possible implementation, the first and second driving limits are two line segments parallel to the road boundary, between the dividing line and the restriction end line. The distance between the first and second driving limits is no less than the vehicle body width and no greater than the distance between the second and third boundaries. By restricting the route preceding the cruising endpoint, the vehicle can cruise along the restricted route, allowing it to travel straight for a certain distance, allowing it to smoothly enter the parking starting area, improving the user experience.

[0013] In a second aspect, an embodiment of the present application further provides a cruise switching parking planning device, comprising: a data acquisition module, configured to acquire user parking space information and road information through a pre-established parking map, wherein the parking space information may include a parking space centerline, and the road information includes road width information and road boundary information; an area demarcation module, configured to determine a first boundary based on the parking space centerline, determine a second boundary and a third boundary based on the road width information and the road boundary information, and determine a parking start area by the intersection of the first boundary, the second boundary, and the third boundary, wherein the first boundary is at least a first distance from the parking space centerline; and a route planning module, configured to determine a planned route for a vehicle to enter the parking start area based on the parking start area and a pre-established cruise route in the parking map.

[0014] In a third aspect, an embodiment of the present application further provides a cruise switching parking planning device, comprising: a processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the cruise switching parking planning method provided in the first aspect is implemented.

[0015] In a fourth aspect, an embodiment of the present application further provides a vehicle, which may include the cruise switch parking planning device provided in the second aspect.

[0016] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the cruise switching parking planning method provided in the first aspect.

[0017] In a sixth aspect, an embodiment of the present application further provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the cruise switching parking planning method provided in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a schematic diagram of a parking scenario provided by an embodiment of the present application;

[0019] FIG2 is a flowchart of a cruise control parking planning method according to an embodiment of the present application;

[0020] FIG3 is a schematic diagram of boundary confirmation of a parking starting area provided by one embodiment of the present application;

[0021] FIG4 a is a schematic diagram of an extended line of a cruise destination of a parking map provided by one embodiment of the present application;

[0022] FIG4 b is a schematic diagram of an extension line length limitation according to an embodiment of the present application;

[0023] FIG5 is a schematic diagram of a driving reference line correction according to an embodiment of the present application;

[0024] FIG6 a is a schematic diagram of a first portion of driving limits provided by an embodiment of the present application;

[0025] FIG6 b is a schematic diagram of a first portion of driving limits provided by yet another embodiment of the present application;

[0026] FIG6 c is a schematic diagram of the first portion of driving limits provided by yet another embodiment of the present application;

[0027] FIG7 is a schematic structural diagram of a cruise control parking planning device according to an embodiment of the present application;

[0028] FIG8 is a schematic structural diagram of a cruise control switching parking planning device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] To facilitate understanding of the technical solution of this application, the concepts involved in this application are explained below.

[0031] Memory parking includes the learning phase and the execution phase.

[0032] After the driver controls the vehicle to enter the learning phase, the driver drives the vehicle to the user's parking space and parks it there. For example, the driver controls the vehicle to enter the learning phase after driving into an underground garage or parking lot. Correspondingly, after entering the learning phase, the vehicle activates its learning function and uses a memory parking algorithm to calculate and record the vehicle's driving trajectory during the driver's driving. Based on data collected by the vehicle's sensors during the driver's driving, a corresponding parking map is created. This parking map may include a driving reference line, based on which the vehicle can automatically drive to the user's parking space in cruise mode.

[0033] After establishing the parking map, memory parking can be performed based on the parking map. During the execution stage, the vehicle starts automatic cruising, locates the user's parking space based on the parking map, cruises to the user's parking space, and automatically parks in the user's parking space.

[0034] FIG1 is a schematic diagram of a parking scenario provided by an embodiment of the present application.

[0035] 1 , a driver wants to park a vehicle 100 in a parking space. In some implementations, the vehicle will drive to a certain position in front of the side of the parking space and then reverse into the parking space.

[0036] Some current vehicles feature Learned Parking Navigation Pilot (LPNP), which is divided into two phases: cruising and parking. During the cruising phase, after the cruise function is activated, the vehicle autonomously locates itself within a parking space (such as an underground parking lot) based on a pre-built parking map and parks near the user's parking space, without requiring human intervention. During the parking phase, the vehicle automatically parks into the space using Auto Parking Assist (APA).

[0037] In order to increase the smoothness and intelligence of the entire LPNP process, an embodiment of the present application provides a cruise switching parking planning method. Through this method, the vehicle cruise end point can be set in an area conducive to parking, so that the vehicle can smoothly switch from the cruising phase to the parking phase and start parking directly, achieving seamless connection, reducing the number of times the vehicle adjusts the parking space, reducing vehicle power consumption, and improving the user experience.

[0038] FIG2 is a flowchart of a cruise control switching parking planning method provided in one embodiment of the present application.

[0039] 2 , the method may include the following steps:

[0040] Step 201: Obtain user parking space information and road information through a pre-established parking map.

[0041] In some embodiments, the vehicle can obtain the user's parking space information and road information from a pre-established parking map. The parking space information may include a parking space centerline, and the road information may include road width information and road boundary information. The vehicle can determine the boundary of the parking start area based on the parking space centerline and road width information. In some embodiments, the parking space centerline can be further calculated based on the coordinates of the corner points of the parking space.

[0042] FIG3 is a schematic diagram of boundary confirmation of a parking starting area provided by one embodiment of the present application.

[0043] As shown in Figure 3 , the vehicle can determine the location of user parking space 10 based on a pre-established parking map, and furthermore, the centerline L1 of user parking space 10. Furthermore, the vehicle can also determine the road width W1 of the adjacent lanes, as well as the first and second road boundaries B1 and B2, based on the pre-established parking map. The centerline L1 of user parking space 10 intersects the first road boundary B1 at right angles.

[0044] Step 202: Determine a first boundary based on the parking space centerline, determine a second boundary and a third boundary based on the road width information and the road boundary information, and determine a parking start area by intersection of the first boundary, the second boundary, and the third boundary.

[0045] The first boundary is at least a first distance from a center line of the parking space.

[0046] In some embodiments, the vehicle may determine a parking start area based on a center line L1 of the user parking space 10 , a road width W1 of the lane, a first road boundary B1 , and a second road boundary B2 .

[0047] In some embodiments, the parking start area may be a semi-open area having boundaries in three directions. Based on a vehicle travel direction parallel to the road, the parking start area may include a first boundary (rear boundary), a second boundary (left boundary), and a third boundary (right boundary).

[0048] In some embodiments, the boundary positions of the parking starting area are determined as follows:

[0049] 3 , the first boundary of the parking start area (ie, the rear boundary B shown in FIG3 ) can be set based on the center line L1 of the user parking space 10. B In order to facilitate the vehicle to be parked in the user's parking space 10 at one time, a rear boundary B is set to determine the parking starting area. B The distance from the center line L1 of the user parking space 10 is at least a first distance D1. In one embodiment, the first distance D1 can be set to 4.5m, that is, the rear boundary B of the parking starting area. B The distance from the center line L1 of the user parking space 10 is at least 4.5m. For example, in some application scenarios, the rear boundary B of the parking starting area can be set B The distance L1 from the center line of the user parking space 10 is 4.5 m.

[0050] 3 , the second boundary of the parking start area 20 (ie, the left boundary B shown in FIG3 ) can be set based on the road width W1 of the adjacent lane of the user parking space 10. L ) and the third boundary (i.e., the right boundary BR shown in FIG3 ). The road width standard of the current parking lot is 6 m. Therefore, the left boundary B of the parking start area 20 can be set based on the road width standard of the current parking lot (6 m). L In some embodiments, the left boundary B of the parking starting area 20 may be set to L The second distance D2 from the road boundary B1 is 2.3 meters. The right boundary BR of the parking starting area 20 can also be set to a third distance D3 from the road boundary B2, and the third distance D3 can be 1.7 meters. In other embodiments, the second distance D2 and the third distance D3 can also be other values, for example, both the second distance D2 and the third distance D3 are 2 meters.

[0051] When determining the left boundary B of the parking starting area 20 L , right boundary BR and back boundary B B After that, you can pass the left boundary B L , right boundary BR and back boundary B B A semi-open area is formed by weaving, that is, a parking starting area 20 is determined.

[0052] Step 203: Determine a planned route for the vehicle to enter the parking start area based on the parking start area and the pre-made cruising route in the parking map.

[0053] In some embodiments, determining a planned route for a vehicle to enter a parking start area based on the parking start area may be achieved by the following steps:

[0054] Correcting the cruise endpoint of the prefabricated cruise route to obtain a first cruise route;

[0055] Selecting a first restricted area and a second restricted area of ​​a first cruise route;

[0056] setting a first restricted area driving boundary for the first restricted area based on the user driving habits of the first cruise route;

[0057] A first driving limit and a second driving limit are set for the second restricted area based on the left boundary and the right boundary of the parking start area, and a planned route for the vehicle to enter the parking start area is obtained.

[0058] After determining the parking starting area, a route for the vehicle to cruise to the parking starting area may also be planned, which is described in detail below with reference to the accompanying drawings.

[0059] Because the vehicle has a pre-established parking map, it can locate the user's parking space based on the parking map and control the vehicle to the user's parking space based on the pre-established cruise route in the parking map for memory parking. Considering that the driver's parking position before parking the vehicle during the learning phase may not be completely within the parking start area determined in the above steps, to facilitate controlling the vehicle into the parking start area during memory parking, part of the pre-established cruise route can be corrected, so that the vehicle can enter the parking start area smoothly and stably based on the corrected route. In some scenarios, the driver will pre-adjust the parking space before parking, that is, the vehicle body has a certain angle with respect to the road boundary. Therefore, the driving reference line of the terminal line in the pre-established cruise route of the parking map has a certain angle with respect to the road boundary, and the driving reference line of this terminal line can be corrected.

[0060] In some embodiments, the driving reference lines in the parking map may be corrected as follows:

[0061] The cruise end point of the prefabricated cruise route is used as the starting point for tracing back to determine the turning point where the vehicle enters the terminal route in a straight line; an extension line parallel to the road is drawn from the turning point until the extension line enters the parking starting area by the vehicle body length to obtain the first cruise route.

[0062] After obtaining a pre-established cruise route from a parking map, the driving reference line at the end of the pre-established cruise route can be modified. Figure 4a is a schematic diagram of the extended cruise endpoint of a parking map, provided in one embodiment of the present application. Referring to Figure 4a , on driving reference line R1 in the parking map, after entering the lane adjacent to user parking space 10, the vehicle drives a straight distance to point M. The driver then turns the vehicle left, pointing the vehicle's front end toward the left, and stops. The vehicle's cruise endpoint is point N.

[0063] When correcting the route, the original driving reference line can be traced back from point N, the endpoint of the original driving reference line, to determine the inflection point where the vehicle enters the final route (in other words, the first reference point parallel to the road), which is point M shown in Figure 4a. Furthermore, starting from this inflection point, an extension line can be created by extending the line forward by a set length. The original cruising endpoint in the parking map is point N, and the determined reference point is point M. Furthermore, starting from point M, an extension line L2 can be created by extending the line forward by a set length.

[0064] FIG4 b is a schematic diagram of an extension line length limitation provided by an embodiment of the present application.

[0065] As shown in Figure 4b , if the extended line L2 is extended too far, it may intersect with the driving reference line R1 in the parking map. This intersection can lead to a vehicle capture error, resulting in an incorrect reference line. Specifically, a vehicle capture error may cause the vehicle to repeatedly circle the road based on the incorrectly captured driving reference line in the parking map. To reduce the possibility of capture errors, the length of the extended line L2 can be limited.

[0066] In some embodiments, as shown in FIG3 , an extension line end limit line L3 can be determined based on the driving reference line R1, and then the extension length of the extension line L2 can be limited based on the extension line end limit line. Specifically, the extended extension line L2 can be set not to exceed the extension line end limit line. In one embodiment, the determination of an extension line end limit line L3 based on the driving reference line R1 can be: after determining the inflection point (point M), point M can be used as the starting point, and an extension line can be made in a direction parallel to the road boundary (such as boundary B1) until it intersects with the driving reference line R1, and the intersection is determined to be point P as shown in FIG4b . Furthermore, point P can be used as the starting point to select a line segment of a fourth distance D4 on the PM segment, that is, the PQ segment shown in FIG4b . In one embodiment, the fourth distance D4 can be 2m. In other embodiments, the fourth distance D4 can also be set to other length values ​​based on scenario requirements, and this application does not impose any restrictions on this. Furthermore, after determining the PQ segment, a perpendicular line L3 passing through point Q on the PQ segment can be obtained. The perpendicular line L3 is perpendicular to the road boundary (such as boundary B1). The perpendicular line L3 is the end point limit line of the extension line.

[0067] In some embodiments, after obtaining the extension line endpoint restriction line L3, the extension line L2 can be determined based on the restriction of the extension line endpoint restriction line L3, and a revised driving reference line can be obtained, so that the vehicle can enter the parking start area 20 after completing cruising based on the revised driving reference line. In one embodiment, to improve parking efficiency, the rear of the vehicle can just pass the rear boundary of the parking start area 20 after completing cruising based on the revised driving reference line (i.e., the vehicle stops at the endpoint of the extension line L2).

[0068] In some application scenarios, different drivers have different driving habits. Therefore, during the learning phase of memory parking, the vehicle-side recorded driver's driving trajectory may be different, and thus the generated driving reference line may be different. Different drivers' driving habits may include driving on the left, in the center, or on the right. Therefore, the vehicle-side generates corresponding driving reference lines during the learning phase. These driving reference lines are respectively classified as left, center, or right.

[0069] FIG5 is a schematic diagram of a driving reference line correction provided by an embodiment of the present application.

[0070] As shown in Figure 5, based on different driving habits, the vehicle generates corresponding left, center, or right driving reference lines (Ref1, Ref2, and Ref3) during the learning phase. When cruising into the parking start area based on the driving reference lines corresponding to different driving habits, there may be issues with the vehicle's posture being adjusted by sudden steering or braking when the vehicle follows the driving reference lines completely, affecting the user's riding experience.

[0071] To ensure a stable and smooth vehicle entry into the parking start area based on various driving reference lines, in some embodiments, after obtaining a modified driving reference line, a driving limit can be set for the modified driving reference line based on the user's individual driving habits. In one embodiment, the driving limit can be a distance limit that restricts the vehicle's driving area before entering the parking start area. The driving limit includes a first driving limit and a second driving limit. After the driving limit is set, when the vehicle passes through the road section during cruising, the vehicle can be controlled to travel between the first and second driving limits, thereby ensuring a stable and smooth entry into the parking start area.

[0072] In some embodiments, as shown in FIG5 , the restricted area of ​​the driving limit can be determined based on the end point of the extended line L2 in the modified driving reference line. In one embodiment, the extended line end limit line L3 can be set as the restricted end line L END , and select the line of the fifth distance D5 in the opposite direction of the extension line L2 as the restricted area of ​​the driving limit, so as to determine the restricted starting line L of the driving limit. START In one embodiment, the fifth distance D5 may be 50 m. In other embodiments, the fifth distance D5 may be set to other length values ​​according to road information, and this application does not impose any limitation on this.

[0073] In some embodiments, as shown in FIG5 , the driving limit of the fifth distance D5 can be divided into a first part P1 (i.e., a first restricted area) and a second part P2 (i.e., a second restricted area). In one embodiment, the driving reference line can be corrected and divided into a first part P1 and a second part P2 by a dividing line. The dividing line can be determined based on the center line L1 of the user parking space 10. Specifically, a dividing line L4 parallel to the center line L1 of the user parking space 10 can be selected in the opposite direction of the extension line L2, and there is a sixth distance D6 between the dividing line L4 and the center line L1 of the user parking space 10. For example, the sixth distance D6 can be 10m. The dividing line L4 is at the restriction starting line L START Between the center line L1 of the user's parking space 10, the vehicle can adjust its posture at a position 10m away from the center line of the parking space, and control the vehicle to enter the second part P2. If there is no obstacle in front of the vehicle, the vehicle can stably go straight in the second part P2 into the parking starting area, thereby improving the user's riding comfort.

[0074] As shown in FIG5 , the first driving limit B1 and the second driving limit B2 of the second portion P2 are two line segments parallel to the road boundary. In one embodiment, the distance between the first driving limit B1 and the second driving limit B2 is at least the width of the vehicle 100, and the distance between the first driving limit B1 and the second driving limit B2 is at most the width of the parking starting area 20, that is, the left boundary B of the parking starting area 20. L The first driving limit B1 and the second driving limit B2 do not exceed the range of the parking starting area 20, that is, the first driving limit B1 is at most 1 / 2 the distance from the left boundary B of the parking starting area 20. L 5 , when the vehicle passes the road section corresponding to the second portion P2, it can stably drive straight between the first driving limit B1 and the second driving limit B2 and enter the parking start area 20.

[0075] As shown in Figure 5 , the first portion P1 has a first driving edge line B3 and a second driving edge line B4, with the first driving edge line B3B and the second driving edge line B4 being line segments with a certain slope. In some embodiments, driving limits can be adaptively set for the first portion based on the position of the driving reference line in the parking map (left, center, or right). The following details the modification of different driving reference lines, with reference to the accompanying figures.

[0076] FIG6 a is a schematic diagram of a first portion of driving limits provided in one embodiment of the present application.

[0077] As shown in FIG5 and FIG6a, when the driver's driving habit is to drive on the left, the driving reference line generated during the learning phase of memory parking is Ref1. It can be determined that the driving reference line is Ref1 and the restriction start line L START The first intersection I1 of the driving reference line Ref1 and the second intersection I2 of the driving reference line Ref1 and the dividing line L4 are connected between the first intersection I1 and the second intersection I2 to obtain a first driving sideline B3 of the first portion P1. In some embodiments, the slope of the first driving sideline B3 can be further calculated. During the cruising phase, the vehicle can smoothly adjust its posture based on the first driving sideline B3 during the autonomous driving process, allowing the vehicle to smoothly and stably enter the second portion P2 and then the parking starting area.

[0078] FIG6 b is a schematic diagram of the first portion of the driving limit provided in yet another embodiment of the present application.

[0079] As shown in Figures 5 and 6a , when the driver's driving habit is center-driving, the driving reference line generated during the learning phase of memory parking is Ref2. Because the vehicle can smoothly enter the parking hint area based on Ref2, there is no need to set the first driving edge line.

[0080] FIG6 c is a schematic diagram of the first portion of the driving limit provided in yet another embodiment of the present application.

[0081] As shown in FIG5 and FIG6a, when the driver's driving habit is to drive on the right, the driving reference line generated during the learning phase of memory parking is Ref3. It can be determined that the driving reference line is Ref3 and the restriction start line L START The third intersection I3 of the first portion P1 and the fourth intersection I4 of the driving reference line Ref3 and the dividing line L4 are connected between the third intersection I3 and the fourth intersection I4 to obtain the second driving sideline B4 of the first portion P1. In some embodiments, the slope of the second driving sideline B4 can be further calculated. During the cruising phase, the vehicle can smoothly adjust its posture based on the second driving sideline B4 and the slope of the second driving sideline B4 during the autonomous driving process, allowing the vehicle to smoothly and stably pass through the second portion P2 and enter the parking starting area.

[0082] After a target parking map is obtained by processing the original driving reference lines in a pre-established parking map using any one of the above embodiments or a combination of several of the embodiments, the vehicle can automatically park based on the target parking map after entering an underground garage or a parking lot. This allows the vehicle to smoothly switch from the cruising phase to the parking phase and start parking directly, achieving seamless connection, reducing the number of times the vehicle adjusts parking spaces, reducing vehicle power consumption, and improving the user experience.

[0083] FIG7 is a schematic structural diagram of a cruise control switching parking planning device provided in one embodiment of the present application.

[0084] 7 , the apparatus may include a processor 701 and a memory 702 , where the memory 702 is configured to store at least one instruction, which, when loaded and executed by the processor 701 , implements the cruise switching parking planning method provided in any embodiment of the present application.

[0085] FIG8 is a schematic structural diagram of a cruise control switching parking planning device provided in one embodiment of the present application.

[0086] 8 , the apparatus may include a data acquisition module 801 for acquiring user parking space information and road information through a pre-established parking map, wherein the parking space information may include a parking space centerline, and the road information may include road width information and road boundary information;

[0087] an area demarcation module 802 for determining a first boundary based on the parking space centerline, determining a second boundary and a third boundary based on the road width information and the road boundary information, and determining a parking start area by intersection of the first boundary, the second boundary, and the third boundary, wherein the first boundary is at least a first distance from the parking space centerline;

[0088] The route planning module 803 is configured to determine a planned route for the vehicle to enter the parking starting area based on the parking starting area and the pre-made cruise route in the parking map.

[0089] In some embodiments, the second boundary defined by the area defining module 802 is at least a second distance from the left road boundary, and the third boundary is at least a third distance from the right road boundary.

[0090] In some embodiments, the route planning module 803 determines a planned route for the vehicle to enter the parking start area based on the parking start area and the prefabricated cruise route in the parking map, including: the route planning module 803 corrects the cruise endpoint of the prefabricated cruise route to obtain a first cruise route, wherein the endpoint of the first cruise route is located within the parking start area; selects a first restricted area and a second restricted area of ​​the first cruise route; sets a first restricted area driving limit in the first restricted area based on the user's driving habits; sets a first driving limit and a second driving limit in the second restricted area based on the second boundary and the third boundary of the parking start area, and obtains a planned route for the vehicle to enter the parking start area.

[0091] In some embodiments, the route planning module 803 modifies the cruise end point of the prefabricated cruise route to obtain the first cruise route, including: the route planning module 803 traces back from the cruise end point of the prefabricated cruise route as the starting point to determine the turning point where the vehicle enters the terminal route in a straight line; and draws an extension line parallel to the road from the turning point as the starting point until the extension line enters the parking starting area by the vehicle body length to obtain the first cruise route.

[0092] In some embodiments, the route planning module 803 selects the first restricted area and the second restricted area of ​​the first cruise route, including: the route planning module 803 determines the restriction end line of the second restricted area based on the end point of the extension line; selects a line at a fifth distance in the opposite direction of the extension line as the restriction start line of the first restricted area; wherein, the first restricted area is adjacent to the second restricted area at the dividing line, and the dividing line is between the restriction start line and the center line of the parking space, and is a sixth distance away from the center line of the parking space.

[0093] In some embodiments, the route planning module 803 sets the first restricted area driving boundary for the first restricted area based on the user driving habits of the first cruise route, including: the route planning module 803 determines the first intersection of the first cruise route and the restriction start line; determines the second intersection of the first cruise route and the dividing line; and connects the first intersection and the second intersection to obtain the first restricted area driving boundary.

[0094] In some embodiments, the first driving limit and the second driving limit are two line segments parallel to the road boundary between the dividing line and the restriction end line; the distance between the first driving limit and the second driving limit is not less than the vehicle body width and not greater than the distance between the second boundary and the third boundary.

[0095] An embodiment of the present application further provides a vehicle, which may include the cruise switching parking planning device provided in the embodiment shown in FIG. 7 .

[0096] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the cruise switching parking planning method provided in any embodiment of the present application is implemented.

[0097] An embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the cruise switching parking planning method provided in any embodiment of the present application.

[0098] It should be noted that the terminals involved in the embodiments of the present application may include but are not limited to personal computers (PCs), personal digital assistants (PDAs), wireless handheld devices, tablet computers, mobile phones, MP3 players, MP4 players, etc.

[0099] It is understandable that the application may be an application program (nativeApp) installed on the terminal, or may be a web page program (webApp) of a browser on the terminal, and this embodiment of the present application does not limit this.

[0100] 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.

[0101] 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. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.

[0102] 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.

[0103] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0104] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code.

[0105] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cruise switching parking planning method, characterized in that The method includes: Obtaining user parking space information and road information through a pre-established parking map, where the parking space information may include the center line of the parking space, and the road information includes road width information and road boundary information; Determining a first boundary based on the center line of the parking space, determining a second boundary and a third boundary based on the road width information and the road boundary information, and determining a parking start area by the intersection of the first boundary, the second boundary, and the third boundary, where the first boundary is at least a first distance from the center line of the parking space; Determining a planned route for the vehicle to enter the parking start area based on the parking start area and a prefabricated cruise route in the parking map.

2. The method according to claim 1, characterized in that The second boundary is at least a second distance from the left road boundary, and the third boundary is at least a third distance from the right road boundary.

3. The method according to claim 1 or 2, characterized in that The determining a planned route for the vehicle to enter the parking start area based on the parking start area and a prefabricated cruise route in the parking map includes: Correcting the cruise end point of the prefabricated cruise route to obtain a first cruise route, where the end point of the first cruise route is within the parking start area; Selecting a first restricted area and a second restricted area of the first cruise route; Setting a driving border line in the first restricted area based on the user's driving habit; Setting a first driving limit and a second driving limit in the second restricted area based on the second boundary and the third boundary of the parking start area, and obtaining a planned route for the vehicle to enter the parking start area.

4. The method according to claim 3, wherein The correcting the cruise end point of the prefabricated cruise route to obtain a first cruise route includes: Retracing from the cruise end point of the prefabricated cruise route to determine the inflection point where the vehicle drives straight into the end line; Taking the inflection point as the starting point to make an extension line parallel to the road until the extension line enters the vehicle body length of the parking start area, to obtain the first cruise route.

5. The method according to claim 4, characterized in that The selecting a first restricted area and a second restricted area of the first cruise route includes: Determining a limit end line of the second restricted area based on the end point of the extension line; Selecting a line at a fifth distance in the opposite direction of the extension line as the limit start line of the first restricted area; Wherein, the first restricted area is adjacent to the second restricted area at the dividing line, the dividing line is between the limit start line and the center line of the parking space, and is at a sixth distance from the center line of the parking space.

6. The method according to claim 5, wherein The setting a driving border line in the first restricted area based on the user's driving habit of the first cruise route includes: Determining a first intersection point of the first cruise route and the limit start line; Determining a second intersection point of the first cruise route and the dividing line; Connecting the first intersection point and the second intersection point to obtain the driving border line of the first restricted area.

7. The method according to claim 5, wherein The first driving limit and the second driving limit are two line segments parallel to the road boundary between the dividing line and the limit end line; The distance between the first driving limit and the second driving limit is not less than the vehicle body width and not greater than the distance between the second boundary and the third boundary.

8. A cruise-switching parking planning device, characterized in that, The device includes: A data acquisition module, configured to obtain user parking space information and road information through a pre-established parking map, wherein the parking space information may include the center line of the parking space, and the road information includes road width information and road boundary information; A region demarcation module, configured to determine a first boundary based on the center line of the parking space, determine a second boundary and a third boundary based on the road width information and the road boundary information, and determine a parking start region through the intersection of the first boundary, the second boundary and the third boundary, wherein the first boundary is at least a first distance away from the center line of the parking space; A route planning module, configured to determine a planned route for the vehicle to enter the parking start region based on the parking start region and a prefabricated cruise route in the parking map.

9. A cruise-switching parking planning device, characterized in that, The device includes: A processor and a memory, where the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, it implements the cruise-switching parking planning method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the cruise-switching parking planning method according to any one of claims 1-8.

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