Vehicle parking control method, parking position determination method, electronic device, computer readable storage medium, and vehicle

Abstract

A vehicle parking control method, an electronic device, a computer readable storage medium, and a vehicle. The method comprises: determining obstacle boundary lines of an effective parking space; and determining a first parking position on the basis of the obstacle boundary lines.

Description

Vehicle parking control method, parking position determination method, electronic device, computer readable storage medium and vehicle

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202410650259.4, filed May 21, 2024, entitled “Vehicle Parking Control Method and Device, Vehicle, Computer Readable Storage Medium,” to Chinese Patent Application No. 202410737529.5, filed June 7, 2024, entitled “Parking Position Determination Method, Storage Medium, Program Product, Device and Vehicle,” to the Chinese Patent Office, the contents of which are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the field of vehicles, and in particular to a vehicle parking control method, a parking position determination method, an electronic device, a computer readable storage medium and a vehicle. BACKGROUND

[0004] In recent years, the level of intelligence of automobiles is continuously improving. As an important component of intelligent auxiliary driving, full-automatic parking systems are gradually becoming a standard feature of new-generation intelligent automobiles. Existing ultrasonic automatic parking technologies determine parking positions by obtaining external environment information of a vehicle through multiple ultrasonic sensors fixed to the vehicle body. However, due to the limited detectable angle of ultrasonic sensors, 360-degree omnidirectional detection of the surrounding environment cannot be achieved. The existing technologies usually determine parking positions by detecting the front ends of obstacle vehicles on both sides of an idle parking space. However, it is found in practice that when the angle between the driving direction of the vehicle and the center axis of the obstacle vehicle deviates greatly from the perpendicular angle, the parking position cannot be accurately positioned, which causes the vehicle to fail to complete automatic parking.

[0005] SUMMARY

[0006] Embodiments of the present application provide a vehicle parking control method and device, a vehicle, and a computer readable storage medium, so that the vehicle can accurately identify a first parking position when the angle between the driving direction of the vehicle and the center axis of the obstacle is large, which is beneficial to improve the parking efficiency.

[0007] According to an embodiment of the first aspect of the present application, a vehicle parking control method is provided, comprising:

[0008] determining an obstacle boundary line of an effective parking space; and determining a first parking position based on the obstacle boundary line; and controlling the vehicle to park into the first parking position.

[0009] It can be seen that, by determining the parking position according to the obstacle boundary line after the obstacle boundary line of the effective parking space is determined, it can be ensured that the vehicle can accurately identify the parking position in the effective parking space when the angle between the driving direction of the vehicle and the central axis of the obstacle greatly deviates from the vertical angle, and the collision with the obstacle in the parking process is reduced, which is conducive to improving the accuracy and efficiency of parking.

[0010] According to some embodiments of the present application, the effective parking space is determined based on the position information of the current vehicle; and the obstacle boundary line is determined based on the coordinates of a plurality of points on the boundary of the obstacle in the effective parking space.

[0011] The coordinates of a plurality of points on the boundary of the effective parking space are obtained, and the boundary line is determined according to the coordinates of the plurality of points, which can ensure the accuracy of the obtained obstacle boundary line.

[0012] According to some embodiments of the present application, the constraint condition is used to constrain the pose information of the radar, so that the radar detects the obstacle boundary of the effective parking space and the detection range of the obstacle boundary meets the preset range condition.

[0013] By determining that the detection range of the radar for the obstacle boundary meets the preset range condition according to the relevant constraint condition of the effective parking space, and then determining the boundary line of the obstacle according to the radar data obtained under the condition that the preset range condition is met, the accuracy of the obstacle boundary line is ensured.

[0014] According to some embodiments of the present application, the obstacle boundary line is determined based on the coordinates of the points on the boundary of the obstacle when the number of the points on the boundary of the obstacle is greater than a first number, and / or the distance between the starting point and the ending point of the radar in the time period when the pose of the radar meets the constraint condition is greater than a preset movement distance.

[0015] When the data amount of the radar data is greater than a target data amount or the distance between the starting point and the ending point of the radar in the time period when the pose of the radar meets the constraint condition is greater than a preset movement distance, the obstacle boundary line is determined based on the coordinates of a plurality of points, which can avoid the situation that the accurate obstacle boundary line cannot be obtained due to the small number of points on the boundary of the obstacle or the radar cannot continue to collect the points on the boundary of the obstacle, and affect the subsequent determination of the first parking position, which is conducive to improving the accuracy of vehicle parking.

[0016] According to some embodiments of the present application, when the obstacle boundary line of one side of the effective parking space is determined, the first parking position is determined based on the obstacle boundary line, the first position information of the first reference point of the effective parking space, and the first interval distance of the vehicle, the first interval distance being a preset distance required to be maintained between the vehicle and the side obstacle boundary after parking.

[0017] When the obstacle boundary is a single boundary, the first parking position of the vehicle can be quickly determined based on the position information of the body reference point and the interval distance between the body and the boundary line of the obstacle, which is beneficial to improve the parking efficiency.

[0018] According to some embodiments of the present application, when the boundary lines of the obstacles on both sides of the effective parking space are determined, the first parking position is determined based on the second position information of the second reference point of the effective parking space and the angle bisector of the angle formed by the two boundary lines of the obstacles; and the central axis of the first parking position is the angle bisector of the angle formed by the two boundary lines of the obstacles.

[0019] When the obstacle boundary is a double boundary, the angle bisector of the angle formed by the two boundary lines can be used as the central axis of the first parking position, so as to ensure that the interval distance between the parking position and the two boundary lines is the same, and then the first parking position can be quickly determined based on the position information of the body reference point, which is beneficial to improve the parking efficiency of the vehicle.

[0020] According to some embodiments of the present application, the vehicle is controlled to rotate and translate so as to park into the first parking position.

[0021] According to some embodiments of the present application, the control of the rotation of the vehicle is performed when the included angle between the central axis of the vehicle position and the central axis of the first parking position is greater than the first target angle.

[0022] When the included angle between the current driving direction of the vehicle and the central axis of the first parking position is greater than the first target angle, the control of the rotation of the vehicle can avoid the situation that the vehicle needs to be parked into the first parking position again due to a large deviation, which can ensure the accuracy of the parking of the vehicle and is beneficial to improve the parking efficiency of the vehicle.

[0023] According to some embodiments of the present application, the control of the rotation of the vehicle to the included angle between the central axis of the current vehicle and the central axis of the first parking position not being greater than the first target angle is performed when the included angle between the central axis of the vehicle position and the central axis of the first parking position is greater than the first target angle, and the distance between the midpoint of the tail of the vehicle and the midpoint of the lower boundary of the first parking position is greater than the second interval distance.

[0024] The distance between the midpoint of the tail of the vehicle and the midpoint of the lower boundary of the first parking position can indicate the progress of the parking of the vehicle to a certain extent. Before the progress of the parking of the vehicle reaches a certain progress, the vehicle can be rotated by a large angle until the included angle between the driving direction and the central axis of the first parking position is not greater than the first target angle, so as to prevent the subsequent rotation operation of the vehicle, the need to re-plan the parking position, and the improvement of the parking efficiency of the vehicle.

[0025] According to some embodiments of the present application, when the angle between the center axis of the vehicle position and the center axis of the first parking position is less than the second target angle, and / or the distance between the tail midpoint of the vehicle and the midpoint of the lower boundary of the first parking position is less than the second interval distance, the vehicle does not perform the rotation operation.

[0026] After the current driving direction of the vehicle is less than the second target angle with the center axis of the first parking position, and the parking progress of the vehicle has exceeded a certain progress, the vehicle is no longer controlled to perform the rotation operation, reducing the steps required for parking and improving parking efficiency.

[0027] According to some embodiments of the present application, when the distance between the center point of the vehicle position and the center point of the first parking position is less than the third interval distance, the vehicle does not perform the translation operation.

[0028] When the distance between the center point of the current vehicle position and the center point of the first parking position is less than the third interval distance, it indicates that the vehicle has reached the first parking position, and the vehicle no longer performs the translation operation, reducing the steps required for parking and improving parking efficiency.

[0029] According to some embodiments of the second aspect of the present application, a parking position determination method is provided, comprising: determining, according to a second obstacle boundary line of an obstacle on a side of a parking space opposite a second boundary of a vehicle and a first corner point position of a first corner point of the obstacle, a first obstacle boundary line of the obstacle opposite a first boundary of the parking space as a boundary line of the parking space; wherein the first corner point is an end point of the first boundary close to the vehicle.

[0030] Through the above technical solution, in the process of parking the vehicle, according to the second obstacle boundary line of the obstacle on the side of the parking space opposite the second boundary of the vehicle and the first corner point position of the first corner point of the obstacle, the first obstacle boundary line of the obstacle opposite the first boundary of the parking space is determined as the obstacle boundary line of the parking space. Since the detection difficulty of the obstacle opposite the boundary of the vehicle and the first corner point is far lower than the detection difficulty of the obstacle opposite the boundary of the parking space, through this method, even when the obstacles on both sides of the parking space are irregularly placed, the obstacle boundary line of the obstacle opposite the parking space can still be indirectly obtained, the accuracy of the determination of the parking space boundary information is improved, the user is facilitated to park, and the user experience is improved.

[0031] According to some embodiments of the present application, the first obstacle boundary line is determined based on the first corner point position and the slope of the first obstacle boundary line, and the slope of the first obstacle boundary line is determined based on the slope of the second obstacle boundary line.

[0032] According to some embodiments of the present application, the first obstacle boundary line is perpendicular to the second obstacle boundary line.

[0033] According to some embodiments of the present application, a first coordinate value in the first corner point position along a first direction is determined based on a coordinate value of at least one first effective detection point of the first boundary along the first direction, and a second coordinate value in the first corner point position along a second direction is determined based on the second obstacle boundary line and the first coordinate value in the first corner point position, the first direction being a driving direction of the vehicle, and the second direction being a direction perpendicular to the driving direction of the vehicle.

[0034] According to some embodiments of the present application, the coordinate value of the first effective detection point along the first direction is determined based on a first detection angle of a radar detection device of the vehicle, a first distance between the vehicle and the first effective detection point, and a first corresponding position of the vehicle, the first corresponding position of the vehicle being a position of the vehicle when the first effective detection point is detected by the vehicle.

[0035] According to some embodiments of the present application, the first coordinate value in the first corner point position is an average value of coordinate values of a plurality of the first effective detection points along the first direction.

[0036] According to some embodiments of the present application, the first effective detection points include first boundary detection points of the first boundary detected by the vehicle within a first driving section of a preset driving length, a starting point of the first driving section being a position of the vehicle when the first boundary is initially detected by the vehicle.

[0037] According to some embodiments of the present application, the first effective detection points include first boundary detection points of the first boundary with a corresponding gradient parameter less than or equal to a preset gradient parameter threshold; the gradient parameter is used to represent a rate of change of a first distance between a corresponding first boundary detection point and the vehicle relative to a first distance between an adjacent first boundary detection point and the vehicle.

[0038] According to some embodiments of the present application, the second obstacle boundary line is determined based on positions of a plurality of second effective detection points of a second boundary.

[0039] According to some embodiments of the present application, the positions of the second effective detection points are determined based on second distances between the vehicle and the second effective detection points and second corresponding positions of the vehicle, the second corresponding positions of the vehicle being positions of the vehicle when the second effective detection points are detected by the vehicle.

[0040] According to some embodiments of the present application, the second distances between the vehicle and the second effective detection points are distances obtained by performing median filtering preprocessing on original detection distances between the vehicle and the second effective detection points.

[0041] According to some embodiments of the present application, the second effective detection points include second boundary detection points in the second boundary for which a corresponding standard deviation of a plurality of second distances between the vehicle and the second boundary detection point and a plurality of second boundary detection points adjacent to the second boundary detection point in front of the second boundary detection point is less than or equal to a preset standard deviation threshold.

[0042] According to some embodiments of the present application, the second obstacle boundary line is determined when a detection result of the second effective detection points satisfies a first preset condition.

[0043] The first preset condition includes that a number of the second effective detection points is greater than or equal to a preset number threshold, or an interval distance between two second effective detection points with the largest interval distance among all the detected second effective detection points is greater than or equal to a preset interval distance.

[0044] According to some embodiments of the present application, the first corner point position and / or the second obstacle boundary line are determined when a vehicle speed of the vehicle is within a preset vehicle speed range.

[0045] According to some embodiments of the present application, the method further includes:

[0046] According to the first obstacle boundary line, a second corner point position of a second corner point of the obstacle is determined, the second corner point being an end point of the first boundary away from the vehicle.

[0047] According to some embodiments of the present application, the method further includes:

[0048] According to the first corner point position and the second corner point position, the vehicle is controlled to enter the parking space.

[0049] According to an embodiment of the third aspect of the present application, an electronic device is provided, including: a determination module configured to determine an obstacle boundary line of an effective parking space; and a first parking position determination module configured to determine a first parking position based on the obstacle boundary line.

[0050] According to an embodiment of the fourth aspect of the present application, an electronic device is provided, including: a memory having stored therein a vehicle parking control program or a parking position determination program; and a processor connected with the memory, the processor being configured to invoke the vehicle parking control program to execute any of the vehicle parking control methods described above, or to invoke the parking position determination program to execute any of the parking position determination methods described above.

[0051] According to a fifth aspect of the present application, a non-transitory computer readable storage medium is provided, the non-transitory computer readable storage medium storing a vehicle parking control program or a parking position determination program, the vehicle parking control program or the parking position determination program comprising execution instructions for executing any of the vehicle parking control methods or any of the parking position determination methods when executed by a processor.

[0052] According to a sixth aspect of the present application, a vehicle is provided, the vehicle comprising any of the electronic devices.

[0053] According to a seventh aspect of the present application, a parking position determination device is provided, the device comprising: a first determination module configured to determine, according to a second obstacle boundary line of an obstacle of a second boundary of a parking space opposite to a vehicle and a first corner point position of a first corner point of the obstacle, a first obstacle boundary line of the obstacle opposite to a first boundary of the parking space as a boundary line of the parking space; wherein the first corner point is an end point of the first boundary close to the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings needed to be used in the embodiments of the present application or the background art will be described below.

[0055] FIG. 1 is a schematic diagram of a system architecture of a vehicle parking control method according to an embodiment of the present application;

[0056] FIG. 2 is a flowchart of a vehicle parking control method according to an embodiment of the present application;

[0057] FIG. 3 is a flowchart of another vehicle parking control method according to an embodiment of the present application;

[0058] FIG. 4 is a schematic diagram of an effective parking space and a boundary line according to an embodiment of the present application;

[0059] FIG. 5 is a schematic diagram of a parking space type according to an embodiment of the present application;

[0060] FIG. 6 is a schematic diagram of obtaining a first parking position according to an embodiment of the present application;

[0061] FIG. 7 is a schematic diagram of a vehicle parking into a target parking space according to an embodiment of the present application;

[0062] FIG. 8 is a schematic diagram of an ultrasonic radar of a vehicle according to an embodiment of the present application;

[0063] FIG. 9 is a scene diagram of a vehicle parking according to an embodiment of the present application;

[0064] FIG. 10 is a flow chart of a parking position determination step according to an example embodiment of the present application;

[0065] FIG. 11 is a scenario diagram of a vehicle parking according to another example embodiment of the present application;

[0066] FIG. 12 is a scenario diagram of a vehicle parking according to yet another example embodiment of the present application;

[0067] FIG. 13 is a scenario diagram of a vehicle parking according to still another example embodiment of the present application;

[0068] FIG. 14 is a flow chart of a parking position determination step according to the example embodiment of FIG. 10;

[0069] FIG. 15 is a structural diagram of an electronic device according to an example embodiment of the present application;

[0070] FIG. 16 is a block diagram of a parking position determination device according to an example embodiment of the present application;

[0071] FIG. 17 is a block diagram of a parking position determination device according to the example embodiment of FIG. 16;

[0072] FIG. 18 is a structural diagram of another electronic device according to an example embodiment of the present application;

[0073] FIG. 19 is a block diagram of still another electronic device according to an example embodiment of the present application;

[0074] FIG. 20 is a block diagram of yet another electronic device according to an example embodiment of the present application;

[0075] FIG. 21 is a structural diagram of a vehicle according to an example embodiment of the present application. DETAILED DESCRIPTION

[0076] In the following, in order to make the personnel in the technical field better understand the present application, the technical solutions in the present application will be described clearly and completely in the following with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the technical field without any creative effort should be within the scope of the present application.

[0077] The terms "first", "second", and "third" and the like in the description and in the claims of the present application and in the drawings of the application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "include", "have", and "contain" and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a list of steps or elements is not necessarily limited to the listed steps or elements, but can include additional steps or elements not expressly listed or inherent to such process, method, system, product, or device.

[0078] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that any of the embodiments described herein can be combined with any of the other embodiments.

[0079] The detailed description of the present disclosure is described below in conjunction with the accompanying drawings. It should be understood that the detailed description described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0080] Please refer to FIG. 1, which is a schematic diagram of a system architecture of a vehicle parking control method according to an embodiment of the present application. The system includes a vehicle control unit (VCU), vehicle-mounted sensors, an intelligent power braking system, and a four-wheel steering electronic control unit (ECU).

[0081] The VCU can identify an effective parking space of the current vehicle position through an ultrasonic radar or a camera in the vehicle-mounted sensors after receiving a parking instruction, and then obtain point set data of the boundary of the effective parking space through multiple ultrasonic radars. Then the VCU determines the boundary line of the effective parking space according to the point set data, and then determines the first parking position. Finally, the ECU obtains the front and rear wheel steering angle values and the translation amount based on the current position of the vehicle and the first parking position, and controls the vehicle to complete automatic parking.

[0082] The parking instruction received by the VCU can be issued by a user through a central control platform of the vehicle, a mobile phone, a vehicle key, an electronic watch or other electronic devices; the vehicle-mounted sensor can be a plurality of ultrasonic radars or cameras arranged on the vehicle body; the intelligent power braking system can be an intelligent braking system (IBS) or an integrated power brake (IPB) system; the ECU is used to accurately control the four wheels of the vehicle to control the rotation and translation of the vehicle, thereby completing the parking operation.

[0083] Based on this, the application provides a vehicle parking control method, which will be described in detail below with reference to the accompanying drawings.

[0084] Please refer to FIG. 2, which is a flowchart of a vehicle parking control method provided by an embodiment of the application. As shown in FIG. 2, the method comprises the following steps S201 and S202.

[0085] S201, determining an obstacle boundary line of an effective parking space.

[0086] For example, the electronic device is used to determine the obstacle boundary line of the effective parking space. For example, the electronic device can be the VCU in FIG. 1 or a module in the VCU.

[0087] Please refer to FIG. 4, which is a schematic diagram of an effective parking space and a boundary line provided by an embodiment of the application. As shown in FIG. 4, a user is driving a vehicle C to search for an idle parking space. At this time, the vehicle C can identify whether the parking space between different vehicles contains an idle parking space or can accommodate the parking of the vehicle through a vehicle-mounted sensor. If the parking space between different vehicles contains an idle parking space and can accommodate the parking of the vehicle, the parking space is an effective parking space. Specifically, if there is an idle parking space between vehicle A and vehicle B and the idle parking space can accommodate the parking of vehicle C, the two dotted lines in FIG. 4 are two obstacle boundary lines of the effective parking space.

[0088] In a possible implementation, the effective parking space is determined based on position information of a current vehicle, and the obstacle boundary line is determined based on coordinates of a plurality of points on the obstacle boundary of the effective parking space.

[0089] The effective parking space is the closest parking space to the current vehicle position, contains an idle parking space and can accommodate the parking of the current vehicle.

[0090] The coordinates of the points on the obstacle boundary are determined based on effective radar data of the vehicle, and the effective radar data is collected when the radar of the vehicle meets a constraint condition corresponding to the parking space.

[0091] Specifically, in the vehicle parking-in process, a radar pose of interest is first obtained according to the valid parking space analysis. When the radar pose does not satisfy a constraint condition, no obstacle boundary update is performed; when the constraint condition is satisfied, the radar collects corresponding data, and after the number of coordinates of the points of the obstacle boundary obtained according to the corresponding data collected by the radar satisfies an update condition, the obstacle boundary information is continuously updated in the parking-in process, wherein the constraint condition is used to constrain the pose information of the radar, so that the radar detects the obstacle boundary of the valid parking space and the detection range for the obstacle boundary satisfies a preset range condition, and the update condition is that the number of coordinates of the points of the obtained obstacle boundary is greater than a target number, and the target number is a preset value.

[0092] For example, as shown in FIG. 4, the vehicle body has a radar No. 8, a radar No. 9, a radar No. 10 and a radar No. 11, respectively, and a coordinate system is established with the vehicle travel direction as the x-axis and the vertical direction of the vehicle travel direction as the y-axis. The first parking position of the vehicle is provided with four reference points, namely, P0 provided at the upper left corner of the first parking position, P1 provided at the lower left corner, P2 provided at the lower right corner and P3 provided at the upper right corner. Taking the radar No. 9 in the vehicle sensor as an example, when the vehicle parks in the first parking position, the radar No. 9 collects the obstacle information on the right side of the first parking position, the position of the radar No. 9 is (x9, y9), the heading angle of the vehicle at this time is θ9, and then the pose of the radar No. 9 is (x9, y9, θ9). When the pose of the radar No. 9 and the distance value dis9 satisfy the following constraint condition, it can be considered that the radar No. 9 is in the pose of interest, and the data collected by the radar No. 9 is valid.

[0093] wherein the numerical units of the above parameters xp3, x9, xp0, H, y9, yp3, yp2, dismin, dis9 and dismax are meters, xp3, x9, xp0 are the horizontal coordinates of the p3 point, the radar No. 9 and the p0 point in FIG. 4, respectively, y9, yp3, yp2 are the vertical coordinates of the radar No. 9, the p3 point and the p2 point in FIG. 4, respectively, c is a parking space direction coefficient, c is 1 when parking in the parking space on the left side of the vehicle travel direction, and c is -1 when parking in the parking space on the right side of the vehicle travel direction, H is a depth threshold value used to ensure that the radar can accurately detect the vehicle body, kr is the slope of the right obstacle boundary line, the initial value is calculated from the coordinates of the P2 point and the P3 point of the given parking position, θ9 is the heading angle of the vehicle, θmax represents the maximum angle allowed between the detection direction of the radar and the obstacle boundary, and is used to ensure that the reflection points of the obstacle boundary are within the maximum detection angle of the radar, and dis9 represents the detection distance of the radar No. 9, i.e., the distance value, the minimum detection distance dismin is used to ensure that the obstacle is not in the detection blind area of the radar, and the maximum detection distance dismax can filter out abnormal points that are not the boundary of the parking space.

[0094] In the parking process, the vehicle detects whether the number of coordinates of the points on the obstacle boundary obtained by the radar in the interested pose meets the requirement of calculating the obstacle, and / or the distance between the start point and the end point of the radar in the interested pose is greater than L, so as to accurately calculate the obstacle boundary.

[0095] For example, if the movement distance of the radar No. 9 in the interested pose is LR, the coordinates of the radar No. 9 and the detected distance in the time of the movement LR are collected, and then the coordinates of the points of the obstacle boundary are calculated according to the following formula: x r = x9-c*sin(|arctan(k r )|)*dis9

[0096] When the number of coordinates of the points of the obstacle boundary is greater than the target number, the coordinates of the points of the obstacle boundary are used to determine the boundary line of the obstacle.

[0097] Specifically, after obtaining the point set of the obstacle boundary, it is assumed that the boundary line is a straight line, and the least square linear fitting is used to obtain the straight line parameters kr and br, so as to determine the boundary line of the obstacle. The coefficient R is usually used to evaluate the fitting effect of the least square method, and the closer R is to 1, the better the fitting effect is. However, it should be noted that in linear fitting, R is usually affected by the amount of data, so the mean square deviation of the least square method is used to evaluate the linear fitting effect, that is, the straight line fitted by the n points in the point set

[0098] The fitting is considered to be successful when the coefficient R is greater than Rmin and meets the following condition, and the formula for evaluating the linear fitting effect by the mean square deviation of the least square method is as follows:

[0099] Where y(i) is the calculated y value of the i th point, y'(i) is the fitted y value of the i th point, n is the number of points in the point set, and D is the distance error.

[0100] As can be seen, in the present example, the radar data that can be used is determined according to the relevant constraints of the available parking space, and then the coordinates of the points of the multiple obstacle boundaries are obtained according to the radar data that can be used, so as to facilitate the subsequent determination of the boundary line of the obstacle according to the coordinates of the points, and to ensure the accuracy of the boundary line of the obstacle.

[0101] In S202, a first parking position is determined based on the boundary line of the obstacle. For example, the electronic device determines the first parking position based on the boundary line of the obstacle.

[0102] In a possible implementation, when the obstacle boundary line of the single side of the effective parking space is determined, the first parking position is determined based on the obstacle boundary line, first position information of a first reference point of the effective parking space, and a first interval distance of the vehicle, the first interval distance being a preset distance required to be kept between the vehicle and the side obstacle boundary after parking.

[0103] Referring to FIG. 5, FIG. 5 is a schematic diagram of a parking space type provided by an embodiment of the present application. As shown in FIG. 5, in the driving direction of the current vehicle, parking space 1 and parking space 3 are left-parking single-obstacle boundary parking spaces, parking space 4 and parking space 6 are right-parking single-obstacle boundary parking spaces, parking space 2 is a left-parking double-obstacle boundary parking space, and parking space 5 is a right-parking double-obstacle boundary parking space.

[0104] The first reference point can be any fixed position of the vehicle body, or can be determined according to the front end boundary of the obstacle around the parking position of the vehicle or according to the ground parking line of the parking position. For example, the first reference point can be located at a fixed point in front of the left side of the vehicle or at a fixed point in front of the right side of the vehicle body. The first reference point can be determined according to the position of the vehicle head around the parking position of the vehicle. The first reference point can be a fixed point of the ground parking line of the parking position, wherein the position information of the reference point can be represented by the coordinates of each point.

[0105] Specifically, since the size of the parking space frame and the vehicle is constant, the obstacle boundary line is translated to the side of the effective parking space by a first interval distance. The first interval distance can represent the distance between the center point of the vehicle, the vehicle body or the door and the obstacle boundary line, or can represent the shortest distance between the vehicle body and the obstacle boundary line. Given the coordinate value of the first reference point, the first parking position can be determined, wherein the first interval distance is used to ensure that the door near the obstacle boundary line side of the vehicle after completing parking can be normally opened and closed.

[0106] It can be seen that, in the present example, when the obstacle boundary is a single boundary, the first parking position of the vehicle can be quickly determined by the position information of the body reference point and the interval distance between the body and the obstacle boundary line, which is beneficial to improve the parking efficiency.

[0107] In a possible implementation, when the obstacle boundary lines of the two sides of the effective parking space are determined, the first parking position is determined based on second position information of a second reference point of the effective parking space and an angle bisector of an angle formed by the two obstacle boundary lines. The central axis of the first parking position is the angle bisector of the angle formed by the two obstacle boundary lines.

[0108] The second reference point can be any fixed position of the vehicle body, or can be determined according to the front end boundary of the obstacle around the vehicle parking position or the ground parking line of the vehicle parking position. For example, the second reference point can be located at a fixed position of the left front of the vehicle, or located at a fixed position of the right front of the vehicle, the second reference point can be determined according to the position of the vehicle head around the vehicle parking position, and the second reference point can be a fixed position of the ground parking line of the parking position. The position information of the reference point can be represented by the coordinates of each point, for example, the position information of the reference point can be the distance between the reference point and the boundary line of the obstacle.

[0109] Referring to FIG. 6, FIG. 6 is a schematic diagram of obtaining the first parking position according to the double boundary provided by the embodiment of the present application. As shown in FIG. 6, the first parking position of the vehicle is provided with four reference points, P0 located at the upper left corner of the first parking position, P1 located at the lower left corner, P2 located at the lower right corner, and P3 located at the upper right corner. The dashed line located at the right side of the vehicle A and the dashed line located at the left side of the vehicle B are the two boundary lines of the effective parking space. The angle bisector L of the angle formed by the two boundary lines is obtained, and the angle bisector L is taken as the central axis of the first parking position. Then, the first parking position P is determined by setting the position information of one or more of the four reference points. The number and position of the reference points can be adjusted as needed, and the number and position of the reference points are not limited herein.

[0110] It can be seen that in the present example, when the boundary of the obstacle is a double boundary, the angle bisector of the two boundary lines is taken as the central axis of the first parking position, so that the interval distance of the parking position from the two boundary lines is the same. Then, the first parking position is quickly determined according to the position information of the body reference point, which is beneficial to improve the parking efficiency of the vehicle.

[0111] In one example, the electronic device controls the vehicle to park into the first parking position by controlling the rotation and translation of the vehicle.

[0112] The control of the rotation of the vehicle is performed when the angle between the central axis of the current vehicle position and the central axis of the first parking position is greater than a first target angle. The angle between the central axis of the current vehicle position and the first parking position is the smaller angle at the intersection of the two straight lines. The first target angle can be a pre-set angle value. For example, the first target angle can be 5°, 7° or 10°.

[0113] It can be seen that in the present example, when the angle between the current driving direction of the vehicle and the central axis of the first parking position is greater than the first target angle, the rotation of the vehicle is controlled to avoid the situation that the vehicle needs to be parked into the first parking position again due to large deviation. The accuracy of the vehicle parking can be ensured, and the parking efficiency of the vehicle can be improved.

[0114] In a possible implementation, the method further includes: when the angle between the center axis of the current vehicle position and the center axis of the first parking position is greater than the first target angle, and the distance between the midpoint of the first reference line of the vehicle and the midpoint of the second reference line of the first parking position is greater than the second interval distance, the electronic device controls the vehicle to rotate until the angle between the center axis of the current vehicle position and the center axis of the first parking position is not greater than the first target angle.

[0115] The first reference line and the second reference line are line segments. In an example, the first reference line of the vehicle can be a line segment projected by the rear of the vehicle body to the ground, and the second reference line of the first parking position can be the lower boundary of the first parking position. If the driving direction of the vehicle when parking into the first parking position is defined as the first direction, the lower boundary of the first parking position is the boundary of the first parking position on the first direction side. Exemplarily, refer to FIG. 7, which is a schematic diagram of a vehicle parking into a target parking space according to an embodiment of the present application. As shown in FIG. 7, the vehicle A and the vehicle B have been parked in the parking spaces represented by the dashed lines, and the vehicle C is parking into the first parking position represented by the dashed line. At this time, L1 is the first reference line at the rear of the vehicle body, and L2 is the second reference line at the lower boundary of the first parking position. The midpoint of the first reference line and the midpoint of the second reference line can represent the parking progress of the vehicle. Therefore, when the distance between the midpoint of the first reference line of the vehicle and the midpoint of the second reference line of the first parking position is greater than the second interval distance, and the second interval distance is half of the length of the first parking position in the first direction, it can be indicated that the vehicle has not parked to half the depth of the first parking position. At this time, the vehicle can conveniently rotate by a large amplitude until the angle between the center axis of the current vehicle position and the center axis of the first parking position is not greater than the first target angle.

[0116] In another example, the first reference line of the vehicle can be a line segment projected on the ground from the head of the vehicle body, and the second reference line of the first parking position can be an upper boundary of the first parking position. Defining a direction opposite to the driving direction of the vehicle when the vehicle parks into the first parking position as the second direction, the upper boundary of the first parking position is the boundary on the side of the second direction in the first parking position, and when the distance between the midpoint of the first reference line of the vehicle and the midpoint of the second reference line of the first parking position is less than the second interval distance, the value of the second interval distance can indicate the degree of parking of the vehicle into the first parking position, and at this time, the angle between the center axis of the current vehicle position and the center axis of the first parking position can be detected. When the angle between the center axis of the current vehicle position and the center axis of the first parking position is greater than the first target angle and less than the third target angle, the vehicle is controlled to rotate until the angle between the center axis of the current vehicle position and the center axis of the first parking position is equal to the first target angle. When the angle between the center axis of the current vehicle position and the center axis of the first parking position is greater than the third target angle, the vehicle is controlled to park out and re-park into the first parking position after adjusting the pose.

[0117] It can be seen that in the present example, the distance between the midpoint of the first reference line of the vehicle and the midpoint of the second reference line of the first parking position can indicate the progress of the vehicle parking into the first parking position to a certain extent. Before the parking progress of the vehicle reaches a certain progress, the vehicle can conveniently perform a large-angle rotation until the driving direction is not greater than the first target angle with the center axis of the first parking position, so as to prevent subsequent rotation operation of the vehicle, the need for re-planning of the parking space, and to improve the parking efficiency of the vehicle.

[0118] In a possible implementation, the method further includes: when the angle between the center axis of the current vehicle position and the center axis of the first parking position is less than the second target angle, and / or the distance between the midpoint of the first reference line of the vehicle and the midpoint of the second reference line of the first parking position is less than the second interval distance, the electronic device controls the vehicle not to perform the rotation operation.

[0119] The second target angle can be greater than, equal to, or less than the first target angle. When the second target angle is less than the first target angle, because the distance between the midpoint of the first reference line of the vehicle and the midpoint of the second reference line of the first parking position is less than the second interval distance, in order to improve the vehicle parking speed and reduce the adjustment process of the vehicle position when parking, it is considered that the vehicle does not need to rotate, and the vehicle does not perform the rotation operation.

[0120] It can be seen that in the present example, after the current driving direction of the vehicle is less than the second target angle with the center axis of the first parking position and the parking progress of the vehicle has exceeded a certain progress, the vehicle no longer performs the rotation operation, thereby reducing the steps required for parking and improving the parking efficiency.

[0121] In a possible implementation, the method further includes: when the distance between the center point of the current vehicle position and the center point of the first parking position is less than the third interval distance, the control device controls the vehicle not to perform the translation operation.

[0122] It can be seen that, in the present example, when the distance between the center point of the current vehicle position and the center point of the first parking position is less than the third interval distance, it indicates that the vehicle has reached the first parking position, and the vehicle no longer performs the translation operation, thereby reducing the steps required for parking and improving the parking efficiency.

[0123] Referring to FIG. 3, FIG. 3 is a flowchart of another vehicle parking control method provided by the embodiment of the present application. As shown in FIG. 3, the flow of the method includes:

[0124] S301, start parking, and the electronic device analyzes the parking space type and determines the radar number.

[0125] The electronic device can be the VCU in FIG. 1 or a module in the VCU. The VCU detects the parking instruction for the vehicle in real time, which can be issued by the user through the central control platform of the vehicle, a mobile phone, a vehicle key, an electronic watch or other electronic devices.

[0126] Referring to FIG. 5, FIG. 5 is a schematic diagram of a parking space type provided by the embodiment of the present application. As shown in FIG. 5, in the driving direction of the current vehicle, the parking space 1 and the parking space 3 are left-parking single-obstacle boundary parking spaces, the parking space 4 and the parking space 6 are right-parking single-obstacle boundary parking spaces, the parking space 2 is a left-parking double-obstacle boundary parking space, and the parking space 5 is a right-parking double-obstacle boundary parking space. The parking space type can be used to preliminarily determine the radar number that can be used subsequently, so as to facilitate subsequent calling of radar data.

[0127] S302, the electronic device determines whether the radar is in a pose of interest.

[0128] Wherein, whether the radar is in the interested pose can be judged by preset constraint conditions, and an example is shown in FIG. 4. The vehicle body has radars No. 8, No. 9, No. 10 and No. 11 respectively. A coordinate system is established with the vehicle driving direction as the x-axis and the vertical direction of the vehicle driving direction as the y-axis. The first parking position of the vehicle is provided with four reference points, namely P0 provided at the upper left corner of the first parking position, P1 provided at the lower left corner of the first parking position, P2 provided at the lower right corner of the first parking position and P3 provided at the upper right corner of the first parking position. Taking the radar No. 9 in the vehicle sensor as an example, when the vehicle parks in the first parking position, the radar No. 9 collects the obstacle information on the right side of the first parking position. The position of the radar No. 9 is (x9, y9), 9 is the number of the radar in S301, and the heading angle of the vehicle at this time is θ9. Therefore, the pose of the radar No. 9 is (x9, y9, θ9). When the pose and the ranging value dis9 of the radar No. 9 satisfy the following constraint conditions, it can be considered that the radar No. 9 is in the interested pose, and the data collected by the radar No. 9 is valid.

[0129] Wherein, the numerical values of the above parameters xp3, x9, xp0, H, y9, yp3, yp2, dismin, dis9 and dismax are all in meters. xp3, x9 and xp0 are the horizontal coordinates of the points p3, radar No. 9 and p0 in FIG. 4 respectively. y9, yp3 and yp2 are the vertical coordinates of the radars No. 9, p3 and p2 in FIG. 4 respectively. c is the parking position direction coefficient. When parking in the parking position on the left side of the vehicle driving direction, c is 1, and when parking in the parking position on the right side of the vehicle driving direction, c is -1. H is the depth threshold value, which is used to ensure that the radar can accurately detect the vehicle body. kr is the slope of the right obstacle boundary line, and the initial value is calculated from the coordinates of the points P2 and P3 of the given parking position. θ9 is the heading angle of the vehicle, and θmax represents the maximum angle allowed between the detection direction of the radar and the obstacle boundary, which is used to ensure that the reflection point of the obstacle boundary is within the maximum detection angle of the radar. dis9 represents the detection distance of the radar No. 9, i.e. the ranging value. The minimum detection distance dismin is used to ensure that the obstacle is not in the detection blind area of the radar, and the maximum detection distance dismax can filter out abnormal points that are not the boundary of the parking position.

[0130] When it is detected that the radar is in the interested pose, S303 is performed; and when it is detected that the radar is not in the interested pose, S301 is returned to be performed.

[0131] S303, the electronic device collects the radar data in the interested pose.

[0132] Wherein, the radar data can include the current position information of the radar, the vehicle heading angle information and the radar ranging information.

[0133] S304, the electronic device judges whether the radar data is sufficient to calculate the obstacle boundary.

[0134] When it is detected that the radar data is sufficient to calculate the boundary of the obstacle, S305 is performed; when it is detected that the radar data is insufficient to calculate the boundary of the obstacle, S301 is performed.

[0135] In S305, the electronic device determines the boundary of the obstacle and the first parking position, and controls the vehicle to park in the first parking position.

[0136] In the case where the amount of data of the radar data in the pose of interest is greater than the target amount of data, the coordinates of the point of the boundary of the obstacle are determined based on the coordinates of the points of the boundary of the obstacle in the effective parking space.

[0137] Specifically, after obtaining the point set of the boundary of the obstacle, it is assumed that the boundary line is a straight line, and the least square linear fitting is used to obtain the straight line parameters kr and br, so as to determine the boundary line of the obstacle, and the coefficient R is usually used to evaluate the fitting effect of the least square method, and the closer R is to 1, the better the fitting effect is, but it should be noted that in linear fitting, R is usually affected by the amount of data, so the mean square error of the least square method is used to evaluate the linear fitting effect, that is, the straight line fitted by the n points in the point set

[0138] The coefficient R is greater than Rmin, and the following formula is satisfied, which is considered as successful fitting, and the formula for evaluating the linear fitting effect by the mean square error of the least square method is as follows:

[0139] Where y(i) is the y value calculated by the i th point, y'(i) is the y value fitted by the i th point, n is the number of points in the point set, and D is the distance error.

[0140] After determining the boundary line of the obstacle, the electronic device determines the first parking position according to the boundary line of the obstacle and the preset value, and controls the vehicle to park in the first parking position, and the preset value can include the position information of the reference point of the vehicle body and / or the shortest distance between the midpoint of the vehicle and the boundary line of the obstacle.

[0141] In S306, the electronic device determines whether the vehicle has reached the first parking position.

[0142] When it is detected that the vehicle has reached the first parking position, the parking is completed; when it is detected that the vehicle has not reached the first parking position, S301 is performed.

[0143] It can be seen that in the present example, by determining the first parking position according to the boundary line after determining the boundary line of the effective parking space, the first parking position can be accurately identified when the angle between the driving direction of the vehicle and the central axis of the obstacle is large, which is beneficial to improve the parking efficiency.

[0144] The application scenarios of the present disclosure are further described below. The present disclosure is applied in the scenario of vehicle parking, and the vehicle can be equipped with an automatic parking function to facilitate user parking. The prerequisite for automatic parking is to detect and identify the parking space that needs to be parked, determine the parking space information (the parking space information can include the coordinate information of the four corner points of the parking space), and then park. In the related art, the parking space information can be identified by the ultrasonic radar of the vehicle. Specifically, the obstacle points on the side of the parking space are detected by the ultrasonic radar, and the obstacle boundary line of the parking space is directly fitted according to the coordinates of the obstacle points on the side of the parking space. However, since the detectable angle of the ultrasonic radar is limited, once the obstacles on both sides of the parking space are placed abnormally, such as irregular placement of the obstacle vehicle, the radar detection data collected may not be able to directly fit the obstacle boundary line, which will affect the determination of the parking boundary position and result in low accuracy of the obtained parking space information.

[0145] For example, as shown in FIG. 8, it is a schematic diagram of a vehicle ultrasonic radar. The vehicle can include 12 ultrasonic radars, of which the 4th, 5th, 10th and 11th ultrasonic radars can be APA (Automatic Parking Assistant, automatic parking auxiliary sensor), and the ultrasonic radars at the remaining positions can be UPA (Ultrasonic Parking Assistant, ultrasonic parking auxiliary sensor), of which the 4th and 11th can be used to detect parking space data and determine parking space information according to the detected parking space data.

[0146] Since the detection angle of the APA can be a fixed value, the detection angle can cause the obtained parking space information to be inaccurate in the process of detecting the parking space information by the APA, and thus the obtained parking space information can be low in accuracy. As shown in FIG. 9, which is a scenario diagram of a vehicle parking, the vehicle is about to park in a parking space (i.e., a parking space between the entry parking boundary b and the exit parking boundary c), and the adjacent parking spaces of the parking space are both parked with other vehicles. At this time, the vehicle detects the position information of the parking space by the side ultrasonic radar. Wherein, a coordinate system can be established based on the vehicle, and the initial position of the vehicle is taken as the origin O of the coordinate system, and the forward direction of the vehicle is taken as the positive direction of the x-axis, and the main driver direction of the vehicle is taken as the positive direction of the y-axis. As can be seen, the ultrasonic radar of the vehicle can include two detection angles, a forward detection angle θ1 and a backward detection angle θ2. The ultrasonic radar can detect the position information of the exit parking boundary c of the target parking space within the range of the forward detection angle θ1, and can detect the position information of the entry parking boundary b of the target parking space within the range of the backward detection angle θ2. Since the angle range is a fixed value, there is a certain detection blind area, which can cause the detected parking space information to be inaccurate. In order to solve the above problem, the present disclosure also provides a parking position determination method. According to the second obstacle boundary line of the second boundary of the vehicle facing the obstacle on the side of the parking space and the first corner point position of the first corner point of the obstacle, the first obstacle boundary line of the first boundary of the parking space facing the obstacle is determined as the boundary line of the parking space. Since the detection difficulty of the boundary of the vehicle facing the obstacle and the first corner point is far lower than the detection difficulty of the boundary of the parking space facing the obstacle, through the method, even when the obstacles on both sides of the parking space are irregularly placed, the boundary line of the obstacle facing the parking space can still be indirectly obtained, the accuracy of the determination of the parking boundary information is improved, the user is facilitated to park, and the user experience is improved.

[0147] FIG. 10 is a flow chart of a parking position determination method according to an exemplary embodiment of the present disclosure. As shown in FIG. 10, the method can be applied to a vehicle, and the method can include the following steps.

[0148] S401, according to the second obstacle boundary line of the second boundary of the vehicle facing the obstacle on the side of the parking space and the first corner point position of the first corner point of the obstacle, the first obstacle boundary line of the first boundary of the parking space facing the obstacle is determined as the boundary line of the parking space.

[0149] Wherein, the first corner point can be an end point of the first boundary close to the vehicle. For example, the obstacle can be other vehicles or objects, etc., which are not limited here. The second obstacle boundary line can be a boundary line corresponding to the position in front of the obstacle, for example, can be a boundary line corresponding to the position in front of the head of the other vehicle; and the first obstacle boundary line can be a boundary line of the parking space.

[0150] For example, as shown in FIG. 11, which is a scenario diagram of another vehicle parking, the second obstacle boundary line can be a boundary line e corresponding to a position of a front end of an obstacle vehicle, the first obstacle boundary line can be a boundary c of an exit parking space, and / or a boundary b of an entry parking space.

[0151] By the technical solution described above, in the process of vehicle parking, the first obstacle boundary line of the obstacle directly opposite the first boundary of the parking space can be determined according to the second obstacle boundary line of the obstacle directly opposite the second boundary of the vehicle and the first corner point position of the first corner point of the obstacle, as the boundary line of the parking space. Since the detection difficulty of the boundary of the obstacle directly opposite the vehicle and the first corner point is far lower than the detection difficulty of the boundary of the obstacle directly opposite the parking space, by this way, even when the obstacles on both sides of the parking space are irregularly placed, the boundary of the obstacle directly opposite the parking space can still be indirectly obtained, the accuracy of the determination of the parking space boundary information is improved, the user is facilitated to park, and the user experience is improved.

[0152] In some embodiments, in S401 described above, the first corner point position and / or the second obstacle boundary line can be determined when the vehicle speed of the vehicle is within a preset vehicle speed range.

[0153] For example, the preset vehicle speed range can be within a range of 13 km / h-20 km / h, for example, 13 km / h, 15 km / h, 18 km / h, or 20 km / h, etc., which is not limited herein. Since the ultrasonic radar measures the distance with a certain time period, when the vehicle speed is within a lower range, the radar data can be acquired to ensure that sufficient data is acquired, so as to facilitate the determination of the first corner point position and / or the second obstacle boundary line, and the working efficiency is improved.

[0154] In some other embodiments, the first obstacle boundary line can be determined based on the first corner point position and a slope of the first obstacle boundary line, and the slope of the first obstacle boundary line can be determined based on a slope of the second obstacle boundary line.

[0155] In some embodiments, the slope of the second obstacle boundary line can be determined based on the position of the obstacle and a target fitting function.

[0156] For example, the position of the obstacle can include a coordinate value of the obstacle along a first direction and a coordinate value of the obstacle along a second direction. The position of the obstacle can be determined based on the position of the vehicle. For example, the position of the obstacle can be: wherein s_x(i) represents the x coordinate of the obstacle at time i, s_y(i) represents the y coordinate of the obstacle at time i, x(i) represents the x coordinate of the rear axle center point of the vehicle at time i, and y(i) represents the y coordinate of the rear axle center point of the vehicle at time i.

[0157] For example, the target fitting function can be a preset linear function, which can be y=k1x+k0, where x is the x-coordinate of the obstacle along the first direction, y is the y-coordinate of the obstacle along the second direction, k1 and k0 are coefficients, and k0 is a preset value.

[0158] For example, the slope of the second obstacle boundary line can be the same as the slope of the target fitting function, i.e., the slope of the second obstacle boundary line is k1.

[0159] In some embodiments, the first obstacle boundary line can be perpendicular to the second obstacle boundary line. For example, as shown in FIG. 11, the second obstacle boundary line can be a boundary line e corresponding to the position of the front of the obstacle vehicle, the first obstacle boundary line can be an exit parking space boundary c and / or an entry parking space boundary b, and the first obstacle boundary line can be perpendicular to the second obstacle boundary line.

[0160] For example, the slope of the first obstacle boundary line can be perpendicular to the slope of the second obstacle boundary line, i.e., the slope of the first obstacle boundary line can be k=-1 / k1. In this way, the slope of the first obstacle boundary line can be determined based on the slope of the second obstacle boundary line.

[0161] In some embodiments, the first obstacle boundary line can be determined by the slope of the first obstacle boundary line and the target fitting function.

[0162] For example, assuming that the first obstacle boundary line is an entry parking space boundary b, the first obstacle boundary line can be determined by the following function: y-b_y=k b *(x-b_x). Where x is the x-coordinate of the entry parking space boundary b, y is the y-coordinate of the entry parking space boundary b, kb is the slope of the first obstacle boundary line, b_x is the x-coordinate of the first corner point of the entry parking space boundary b, and b_y is the y-coordinate of the first corner point of the entry parking space boundary b.

[0163] It should be noted that in the case of assuming that the first obstacle boundary line is an exit parking space boundary c, the manner of determining the first obstacle boundary line is the same as the above manner, which will not be described here.

[0164] In other embodiments, the first coordinate value in the first corner point position along the first direction is determined based on the coordinate value of at least one first effective detection point of the first boundary along the first direction, and the second coordinate value in the first corner point position along the second direction is determined based on the second obstacle boundary line and the first coordinate value in the first corner point position, the first direction being the driving direction of the vehicle, and the second direction being the direction perpendicular to the driving direction of the vehicle.

[0165] For example, as shown in FIG. 11, the first direction can be an x-axis direction, and the second direction can be a y-axis direction; the first coordinate value can be an x-axis coordinate value of the first corner point position, and the second coordinate value can be a y-axis coordinate value of the first corner point position.

[0166] In some embodiments, the coordinate value of the first effective detection point along the first direction is determined based on a first detection angle of a radar detection device of the vehicle, a first distance between the vehicle and the first effective detection point, and a first corresponding position of the vehicle, which is a position of the vehicle when the vehicle detects the first effective detection point.

[0167] For example, the radar detection device can be an ultrasonic radar, the first detection angle can be a forward detection angle θ1 of the ultrasonic radar or a backward detection angle θ2 of the ultrasonic radar, and the first distance can be determined by the radar detection device.

[0168] In other embodiments, the coordinate value of the first effective detection point along the first direction can be determined by a first preset position determination function based on the first detection angle, the first distance, and the first corresponding position.

[0169] For example, assuming that the first obstacle boundary line is an out-parking-space boundary c, the first preset position determination function can be: c_x(i_out) = x(i_out) + distance(i_out) * sin(θ1); where c_x(i_out) is the coordinate value of the first effective detection point along the first direction, x(i-out) is the first corresponding position of the vehicle at time i, distance(i_out) is the first distance at time i, θ1 is the forward detection angle of the ultrasonic radar, and θ1 is a preset value.

[0170] For example, as shown in FIG. 11, the first boundary of the parking space can be the out-parking-space boundary c in FIG. 11, and the vehicle can obtain the first distance between the vehicle and the out-parking-space boundary c at different times by the ultrasonic radar on the side of the vehicle during parking.

[0171] For example, assuming that the first obstacle boundary line is an out-parking-space boundary b, the first preset position determination function can be: b_x = x(i_in) - distance(i_in) * sin(θ2); where b_x is the coordinate value of the first effective detection point along the first direction, x(i_in) is the current position at time i, distance(i_in) is the first distance at time i, θ2 is the backward detection angle of the ultrasonic radar, and θ2 is a preset value.

[0172] For example, as shown in FIG. 12, which is a diagram of another scenario of parking a vehicle, the first obstacle boundary line can be the entrance boundary b in FIG. 12, and the ultrasonic radar can obtain the first distance between the vehicle and the entrance boundary b at different time instants during the parking process of the vehicle.

[0173] In some embodiments, the first valid detection point can be determined in a case where a first interval distance between all the first valid detection points detected is greater than or equal to a first preset interval distance.

[0174] For example, the size relationship between the first interval distance between two first valid detection points and the first preset interval distance can be determined in the following manner: x(i_out+i)-x(i_out)>Δx; where x(i_out+i) can be a coordinate value of one first valid detection point, x(i_out) can be a coordinate value of another first valid detection point, and Δx can be the first preset distance threshold. In this way, the above-mentioned manner can be used to screen a plurality of first valid detection points to obtain the first valid detection point falling on the first boundary.

[0175] In other embodiments, the first coordinate value in the first corner position can be an average value of coordinate values of the plurality of first valid detection points along the first direction.

[0176] For example, the average value of the coordinate values of the plurality of first valid detection points along the first direction can be determined by the following formula:

[0177] In some embodiments, the first valid detection point can include a first boundary detection point of the first boundary detected by the vehicle within a first driving section of a preset driving length, and the starting point of the first driving section is the position of the vehicle when the vehicle first detects the first boundary.

[0178] For example, the first driving section can refer to the corresponding driving section of the vehicle when the detection beam of the ultrasonic radar of the vehicle is always on the first boundary.

[0179] In other embodiments, the first valid detection point includes a first boundary detection point of the first boundary with a corresponding gradient parameter less than or equal to a preset gradient parameter threshold; and the gradient parameter is used to represent the rate of change of the first distance between the corresponding first boundary detection point and the vehicle relative to the first distance between its adjacent first boundary detection point and the vehicle. ​

[0180] For example, the gradient parameter can be determined in the following manner: wherein k(i) is the gradient parameter at i time, distance(i) is the first distance at i time, distance(i-1) is the first distance at i-1 time, x(i) is the current position at i time, and x(i-1) is the current position at i-1 time. In this way, the first boundary detection points can be screened according to the gradient parameter, and the accuracy of the first boundary detection points can be improved.

[0181] In some embodiments, the second obstacle boundary line is determined based on positions of a plurality of second effective detection points of the second boundary.

[0182] In some embodiments, the position of the second effective detection point can be determined based on a second distance between the vehicle and the second effective detection point and a second corresponding position of the vehicle, the second corresponding position being a position of the vehicle when the vehicle detects the second effective detection point.

[0183] For example, the second distance between the vehicle and the second effective detection point can be determined based on a radar detection device of the vehicle.

[0184] In some embodiments, the second distance between the vehicle and the second effective detection point is a distance obtained by performing median filtering on an original detection distance between the vehicle and the second effective detection point.

[0185] For example, the original detection distance can be median filtered in the following manner: distance(i) = median(distance(i-n:i+n)); wherein median represents a median value of n original detection distances adjacent to the original detection distance corresponding to i time.

[0186] In some embodiments, the second effective detection point can include a second boundary detection point in the second boundary, a corresponding standard deviation of which is less than or equal to a preset standard deviation threshold, the standard deviation being used to represent a standard deviation of a plurality of second distances between the vehicle and the second boundary detection point and a plurality of second boundary detection points adjacent to the second boundary detection point.

[0187] For example, the standard deviation can be used to represent a standard deviation of a plurality of second distances that have been preprocessed by median filtering. The standard deviation can be determined in the following manner: std_value(i) = std(a_y(i-n+1:i)); wherein std_value(i) represents a standard deviation of consecutive n second distances at i time, and a_y(i-n+1:i) represents y coordinates of the consecutive n second distances.

[0188] In some embodiments, the second obstacle boundary line can be determined when the detection result of the second valid detection point meets a first preset condition. The first preset condition can include that the number of the second valid detection points is greater than or equal to a preset number threshold, or the interval distance between the two second valid detection points with the largest interval among all the detected second valid detection points is greater than or equal to a preset interval distance.

[0189] For example, the preset number threshold or the preset interval distance can be set by a user, which is not limited here.

[0190] For example, the second valid detection point can be determined when it is determined that the obstacle is directly opposite the vehicle. Moreover, the directly opposite area can be determined based on the interval distance between the two second valid detection points with the largest interval among all the detected second valid detection points.

[0191] For example, the size relationship between the interval distance and the preset interval distance can be determined by: x(p+m)-x(p)>judge_length, where x(p+m) is the x coordinate of one second valid detection point, x(p) is the x coordinate of another second valid detection point, and judge_length is the preset interval distance. Moreover, the area corresponding to the m second valid detection points between the two second valid detection points can be taken as the directly opposite area, i.e., the range of the directly opposite area is (p, p+m). In this way, the directly opposite area can be determined according to the distance between multiple second valid detection points, and the accuracy of position determination is improved.

[0192] For example, as shown in FIG. 13, which is another scenario of vehicle parking, the obstacle is directly opposite the vehicle, and the area where the vehicle is located is the directly opposite area of the obstacle.

[0193] FIG. 14 is a flowchart of a parking position determination method according to the example embodiment of FIG. 10. As shown in FIG. 14, the method can further include the following steps.

[0194] S402, determining a second corner point position of a second corner point of the obstacle according to the first obstacle boundary line.

[0195] For example, the second corner point can include multiple second corner points. The second corner point can be other corner points of the parking space except the first corner point.

[0196] S403, controlling the vehicle to enter the parking space according to the first corner point position and the second corner point position.

[0197] Please refer to FIG. 15, which is a structural schematic diagram of an electronic device provided in an embodiment of the present application. As shown in FIG. 15, the electronic device 800 includes:

[0198] The determining module 801 is configured to determine an obstacle boundary line of the effective parking space, and determine the first parking position based on the obstacle boundary line.

[0199] The electronic device 800 further includes an executing module 802 configured to control the vehicle to park into the first parking position.

[0200] In a possible implementation, in the determination of the obstacle boundary line of the effective parking space, the effective parking space is determined based on position information of the current vehicle; and the coordinates of the points of the obstacle boundary are determined based on a plurality of points of the obstacle boundary of the effective parking space.

[0201] In a possible implementation, in the determination of the obstacle boundary line of the effective parking space, the coordinates of the points of the obstacle boundary are determined based on effective radar data of the vehicle, which is collected when the radar of the vehicle meets a constraint condition corresponding to the effective parking space.

[0202] In a possible implementation, in the determination of the obstacle boundary line of the effective parking space, the constraint condition is used to constrain the pose information of the radar, so that the radar detects the obstacle boundary of the effective parking space and the detection range for the obstacle boundary meets a preset range condition.

[0203] In a possible implementation, in the determination of the obstacle boundary line of the effective parking space, the obstacle boundary line is determined based on the coordinates of the points of the obstacle boundary when the number of the coordinates of the points of the obstacle boundary is greater than a first number, and / or the distance between the start point and the end point of the radar in a time period during which the pose of the radar meets the constraint condition is greater than a preset moving distance.

[0204] In a possible implementation, in the determination of the first parking position based on the obstacle boundary line, the determining module 801 is specifically configured to: when the obstacle boundary line of a single side of the effective parking space is determined, the first parking position is determined based on the obstacle boundary line, first position information of a first reference point of the effective parking space, and a first interval distance of the vehicle, the first interval distance being a preset distance required to be kept between the vehicle and the side obstacle boundary after parking.

[0205] In a possible implementation, in the determination of the first parking position based on the obstacle boundary lines, the determination module 801 is specifically configured to: when the obstacle boundary lines on both sides of the effective parking space are determined, the first parking position is determined based on the second position information of the second reference point of the effective parking space and the angle bisector of the angle formed by the two obstacle boundary lines; and the center axis of the first parking position is the angle bisector of the angle formed by the two obstacle boundary lines.

[0206] In a possible implementation, in the control of the vehicle to park into the first parking position, the execution module 802 is specifically configured to control the vehicle to rotate and translate, so as to park the vehicle into the first parking position.

[0207] In a possible implementation, in the control of the vehicle to park into the first parking position, the control of the vehicle to rotate is performed when the included angle between the center axis of the current vehicle position and the center axis of the first parking position is greater than the first target angle.

[0208] In a possible implementation, the control of the vehicle to rotate is performed when the included angle between the center axis of the current vehicle position and the center axis of the first parking position is greater than the first target angle, and the distance between the midpoint of the tail of the vehicle and the midpoint of the lower boundary of the first parking position is greater than the second interval distance.

[0209] In a possible implementation, the execution module 802 is further configured to: when the included angle between the center axis of the vehicle position and the center axis of the first parking position is less than the second target angle, and / or, the distance between the midpoint of the tail of the vehicle and the midpoint of the lower boundary of the first parking position is less than the second interval distance, the vehicle does not perform the rotation operation.

[0210] In a possible implementation, the execution module 802 is further configured to: when the distance between the center point of the vehicle position and the center point of the first parking position is less than the third interval distance, the vehicle does not perform the translation operation.

[0211] It is worth pointing out that, the specific functional implementation of the electronic device 800 is described above with reference to the vehicle parking control method shown in FIG. 2, for example, the determination module 801 is configured to implement the related content of S201 and S202. Each unit or module in the electronic device 800 can be combined into one or several other units or modules respectively or all, or some of the units or modules can be further split into a plurality of units or modules with smaller functions to constitute, which can realize the same operation without affecting the implementation of the technical effects of the embodiments of the present application. The above-mentioned units or modules are divided based on logical functions, and in actual application, the function of one unit (or module) is realized by a plurality of units (or modules), or the functions of a plurality of units (or modules) are realized by one unit (or module).

[0212] FIG. 16 is a block diagram of a parking position determination apparatus 700 according to an exemplary embodiment. As shown in FIG. 16, the apparatus 700 can include a first determination module 810.

[0213] The first determination module 810 is configured to determine, as a boundary line of the parking space, a first obstacle boundary line of an obstacle on a first boundary of the parking space according to a second obstacle boundary line of the obstacle on a second boundary of the vehicle and a first corner point position of a first corner point of the obstacle, wherein the first corner point is an end point of the first boundary close to the vehicle.

[0214] By the above technical solution, in the process of parking the vehicle, the first obstacle boundary line of the obstacle on the first boundary of the parking space is determined as the boundary line of the parking space according to the second obstacle boundary line of the obstacle on the second boundary of the vehicle and the first corner point position of the first corner point of the obstacle. Since the detection difficulty of the boundary of the obstacle on the vehicle and the first corner point is far lower than the detection difficulty of the boundary of the obstacle on the parking space, the boundary line of the obstacle on the parking space can be indirectly obtained even when the obstacles on both sides of the parking space are irregularly placed, the accuracy of the determination of the parking boundary information is improved, the user is facilitated to park, and the user experience is improved.

[0215] Optionally, the first obstacle boundary line is determined based on the first corner point position and a slope of the first obstacle boundary line, and the slope of the first obstacle boundary line is determined based on a slope of the second obstacle boundary line.

[0216] Optionally, the first obstacle boundary line is perpendicular to the second obstacle boundary line.

[0217] Optionally, a first coordinate value in the first corner point position in a first direction is determined based on a coordinate value of at least one first effective detection point of the first boundary in the first direction, and a second coordinate value in the first corner point position in a second direction is determined based on the second obstacle boundary line and the first coordinate value in the first corner point position, the first direction being a driving direction of the vehicle, and the second direction being a direction perpendicular to the driving direction of the vehicle.

[0218] Optionally, the coordinate value of the first effective detection point in the first direction is determined based on a first detection angle of a radar detection device of the vehicle, a first distance between the vehicle and the first effective detection point, and a first corresponding position of the vehicle, the first corresponding position of the vehicle being a position of the vehicle when the first effective detection point is detected by the vehicle.

[0219] Optionally, the first coordinate value in the first corner point position is an average value of coordinate values of a plurality of the first effective detection points in the first direction.

[0220] Optionally, the first effective detection point comprises a first boundary detection point of the first boundary detected by the vehicle in a first driving section of a preset driving length, and a starting point of the first driving section is a position of the vehicle when the vehicle first detects the first boundary.

[0221] Optionally, the first effective detection point comprises a first boundary detection point of the first boundary with a corresponding gradient parameter less than or equal to a preset gradient parameter threshold; the gradient parameter is used to represent a rate of change of a first distance between the corresponding first boundary detection point and the vehicle relative to a first distance between adjacent first boundary detection points and the vehicle.

[0222] Optionally, the second obstacle boundary line is determined based on positions of a plurality of second effective detection points of the second boundary.

[0223] Optionally, the position of the second effective detection point is determined based on a second distance between the vehicle and the second effective detection point and a second corresponding position of the vehicle, the second corresponding position of the vehicle being a position of the vehicle when the vehicle detects the second effective detection point.

[0224] Optionally, the second distance between the vehicle and the second effective detection point is a distance obtained by performing median filtering preprocessing on an original detection distance between the vehicle and the second effective detection point.

[0225] Optionally, the second effective detection point comprises a second boundary detection point of the second boundary with a corresponding standard deviation less than or equal to a preset standard deviation threshold, the standard deviation being used to represent a standard deviation of a plurality of second distances between the vehicle and the second boundary detection point and a plurality of second boundary detection points adjacent to the second boundary detection point.

[0226] Optionally, the second obstacle boundary line is determined when a detection result of the second effective detection point satisfies a first preset condition.

[0227] The first preset condition comprises: a number of the second effective detection points is greater than or equal to a preset number threshold, or, an interval distance between two second effective detection points with the largest interval among all the detected second effective detection points is greater than or equal to a preset interval distance.

[0228] Optionally, the first corner position and / or the second obstacle boundary line are determined when a vehicle speed of the vehicle is within a preset vehicle speed range.

[0229] FIG. 17 is a block diagram of a parking position determination apparatus 700 according to the example embodiment of FIG. 16. As shown in FIG. 17, the apparatus 700 can further comprise a second determination module 820 and a control module 830.

[0230] The second determination module 820 is configured to determine a second corner point position of a second corner point of the obstacle according to the first obstacle boundary line, the second corner point being an end point of the first boundary line away from the vehicle.

[0231] The control module 830 is configured to control the vehicle to enter the valid parking space according to the first corner point position and the second corner point position.

[0232] In summary, the embodiments of the present disclosure provide a parking position determination method and a parking position determination device. The first obstacle boundary line of the obstacle facing the first boundary line of the valid parking space is determined as the boundary line of the parking space according to the second obstacle boundary line of the obstacle facing the second boundary line of the vehicle and the first corner point position of the first corner point of the obstacle. Since the detection difficulty of the boundary line of the obstacle facing the vehicle and the first corner point is far lower than the detection difficulty of the boundary line of the obstacle facing the parking space, the boundary line of the obstacle facing the parking space can be indirectly obtained even when the obstacles on both sides of the parking space are irregularly placed, the accuracy of the determination of the parking boundary information is improved, the user is facilitated to park, and the user experience is improved.

[0233] Based on the description of the above method embodiments and related device embodiments, please refer to FIG. 18. The embodiments of the present disclosure further provide a structural schematic diagram of an electronic device 900. The electronic device 900 shown in FIG. 18 includes a processor 901, a memory 902, a communication interface 903 and a bus 904. The processor 901, the memory 902 and the communication interface 903 are communicatively connected with each other through the bus 904.

[0234] Optionally, the memory 902 is a ROM, a static storage device, a dynamic storage device or a RAM.

[0235] The memory 902 can store a vehicle parking control program. When the vehicle parking control program stored in the memory 902 is executed by the processor 901, the processor 901 and the communication interface 903 are configured to perform each step of the vehicle parking control method according to the present disclosure.

[0236] The processor 901 adopts a general-purpose CPU, a microprocessor, an application-specific integrated circuit ASIC, a GPU or one or more integrated circuits, and is configured to execute a related program to execute the vehicle parking control method of the method embodiments of the present disclosure.

[0237] The processor 901 can also be an integrated circuit chip having a processing capability for signals. In implementation, each step of the vehicle parking control method of the present application can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor 901. Alternatively, the processor 901 is a general processor, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The processor can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general processor is a microprocessor or the processor is any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware coding processor for execution, or a combination of hardware and software modules in the coding processor for execution. The optional software modules are located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory 902, and the processor 901 reads the information in the memory 902, and combines the hardware to complete the functions required by the modules included in the electronic device 800 in the embodiments of the present application, or executes the vehicle parking control method of the method embodiments of the present application.

[0238] The communication interface 903 uses a transceiver-related device such as but not limited to a transceiver.

[0239] The bus 904 can include a path for transmitting information between the various components (for example, the memory 902, the processor 901, the communication interface 903) of the electronic device 900.

[0240] It should be noted that although the electronic device 900 shown in FIG. 18 only shows the memory, the processor, the communication interface, in the specific implementation, those skilled in the art should understand that the electronic device 900 also includes other devices necessary for normal operation. At the same time, based on specific needs, those skilled in the art should understand that the electronic device 900 can also include hardware devices for realizing other additional functions. In addition, those skilled in the art should understand that the electronic device 900 can also only include the devices necessary for implementing the embodiments of the present application, and does not have to include all the devices shown in FIG. 18.

[0241] FIG. 19 is a block diagram of an electronic device according to an exemplary embodiment. As shown in FIG. 19, the electronic device 1000 can include a processor 1001, a memory 1002. The electronic device 1000 can also include one or more of a multimedia component 1003, an input / output interface 1004, and a communication component 1005.

[0242] The processor 1001 is configured to control overall operations of the electronic device 1000 to complete all or part of the steps of the above-described parking position determination method. The memory 1002 is configured to store various types of data to support operations of the electronic device 1000, which can include, for example, instructions for operating any application or method on the electronic device 1000, and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The memory 1002 can be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disk. The multimedia component 1003 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 1002 or transmitted through the communication component 1005. The audio component also includes at least one speaker configured to output audio signals. The input / output interface 1004 provides an interface between the processor 1001 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 1005 is configured to perform wired or wireless communication between the electronic device 1000 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 1005 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0243] In an exemplary embodiment, the electronic device 1000 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the above-described parking position determination method.

[0244] FIG. 20 is a block diagram of another electronic device 1100 according to an exemplary embodiment. For example, the electronic device 1100 can be provided as a server. Referring to FIG. 20, the electronic device 1100 includes a processor 1122, the number of which can be one or more, and a memory 1132 for storing a computer program executable by the processor 1122. The computer program stored in the memory 1132 can include one or more modules each corresponding to a set of instructions. In addition, the processor 1122 can be configured to execute the computer program to perform the above-described parking position determination method.

[0245] In addition, the electronic device 1100 can further include a power supply component 1126 which can be configured to perform power management of the electronic device 1100, and a communication component 1150 which can be configured to enable communication of the electronic device 1100, e.g., wired or wireless communication. In addition, the electronic device 1100 can further include an input / output interface 11511. The electronic device 1100 can operate based on an operating system stored in the memory 1132.

[0246] An embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program for electronic data exchange, the computer program includes execution instructions, the execution instructions are used for executing part or all steps of any one of the vehicle parking control methods described in the above vehicle parking control method embodiments, and the above computer includes an electronic terminal device.

[0247] In another exemplary embodiment of the present application, a computer readable storage medium including program instructions is also provided, which when executed by a processor implement the steps of the above parking position determination method. For example, the computer readable storage medium can be the above memory 1002 including program instructions, which can be executed by the processor 1001 of the electronic device 1000 to complete the above parking position determination method.

[0248] In another exemplary embodiment of the present application, a non-transitory computer readable storage medium including program instructions is also provided, which when executed by a processor implement the steps of the above parking position determination method. For example, the non-transitory computer readable storage medium can be the above memory 1132 including program instructions, which can be executed by the processor 1122 of the electronic device 1100 to complete the above parking position determination method.

[0249] In another exemplary embodiment of the present application, a computer program product is also provided, which contains a computer program executable by a programmable device, the computer program having code portions for performing the above parking position determination method when executed by the programmable device.

[0250] In still another embodiment of the present application, a computer program product is provided, wherein the computer program product includes a computer program operable to cause a computer to perform some or all of the steps of any of the vehicle parking control methods described in the above method embodiments, and the computer program product can be a software installation package.

[0251] The embodiments of the present application provide a vehicle 1200, as shown in FIG. 21, which is a structural schematic diagram of a vehicle according to an embodiment of the present application, the vehicle 1200 including the above electronic device 800, 1000 or 1100, and can execute the above vehicle parking control method or parking position determination method.

[0252] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0253] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0254] Furthermore, the various embodiments of the present disclosure can be arbitrarily combined with each other unless they contradict each other, and it should be understood that the same should be construed as being included in the disclosure of the present disclosure.

Claims

1. A vehicle parking control method characterized by comprising: The method comprises: determining an obstacle boundary line of an effective parking space; and determining a first parking position based on the obstacle boundary line.

2. The method of claim 1, wherein, The effective parking space is determined based on position information of a current vehicle; and the obstacle boundary line is determined based on coordinates of a plurality of points of an obstacle boundary of the effective parking space.

3. The method of claim 2, wherein, The coordinates of the points of the obstacle boundary are determined based on effective radar data of the vehicle, which is collected when a radar of the vehicle satisfies a constraint condition corresponding to the effective parking space.

4. The method of claim 3, wherein, The constraint condition is used to constrain pose information of the radar, so that the radar detects the obstacle boundary of the effective parking space and a detection range for the obstacle boundary satisfies a preset range condition.

5. The method of claim 3, wherein, The obstacle boundary line is determined based on the coordinates of the points of the obstacle boundary when a number of the coordinates of the points of the obstacle boundary is greater than a first number, and / or a distance between a start point and an end point of the radar in a time period during which the pose of the radar satisfies the constraint condition is greater than a preset moving distance.

6. The method of any one of claims 1-5, wherein, When the obstacle boundary line of a single side of the effective parking space is determined, the first parking position is determined based on the obstacle boundary line, first position information of a first reference point of the effective parking space, and a first interval distance of the vehicle, which is a preset distance required to be maintained between the vehicle and the side obstacle boundary after parking.

7. The method of any one of claims 1-5, wherein, When the obstacle boundary lines of two sides of the effective parking space are determined, the first parking position is determined based on second position information of a second reference point of the effective parking space and an angle bisector of an angle formed by the two obstacle boundary lines; and a central axis of the first parking position is the angle bisector of the angle formed by the two obstacle boundary lines.

8. The method of any one of claims 1-7, wherein, The method further comprises: controlling the vehicle to rotate and translate so that the vehicle is parked in the first parking position.

9. The method of claim 8, wherein, The control of the rotation of the vehicle is performed when an included angle between a central axis of the vehicle position and a central axis of the first parking position is greater than a first target angle.

10. The method of claim 9, wherein, The control of the rotation of the vehicle is performed when the included angle between the central axis of the vehicle position and the central axis of the first parking position is greater than the first target angle, and a distance between a midpoint of a tail of the vehicle and a midpoint of a lower boundary of the first parking position is greater than a second interval distance.

11. The method of any one of claims 8-10, wherein, The vehicle does not perform a rotation operation when the included angle between the central axis of the vehicle position and the central axis of the first parking position is less than a second target angle, and / or the distance between the midpoint of the tail of the vehicle and the midpoint of the lower boundary of the first parking position is less than the second interval distance.

12. The method of any one of claims 8-11, wherein, The vehicle does not perform a translation operation when a distance between a center point of the vehicle position and a center point of the first parking position is less than a third interval distance.

13. A parking space determination method characterized by comprising: The method comprises: A first obstacle boundary line of an obstacle facing a first boundary of the parking space is determined based on a first corner point position of a first corner point of the obstacle and a second obstacle boundary line of the obstacle facing a second boundary of the parking space, the second boundary being adjacent to the first boundary and being opposite to the vehicle, the first corner point being an end point of the first boundary close to the vehicle.

14. The parking space determination method according to claim 13, characterized by, The first obstacle boundary line is determined based on the first corner point position and a slope of the first obstacle boundary line, the slope of the first obstacle boundary line being determined based on a slope of the second obstacle boundary line.

15. The parking space determination method according to claim 13 or 14, characterized in that, The first obstacle boundary line is perpendicular to the second obstacle boundary line.

16. The parking space determination method according to any one of claims 13 to 15, characterized in that, A first coordinate value of the first corner point position in a first direction is determined based on coordinate values of at least one first valid detection point of the first boundary in the first direction, the first direction being a driving direction of the vehicle, a second coordinate value of the first corner point position in a second direction being determined based on the second obstacle boundary line and the first coordinate value of the first corner point position, the second direction being perpendicular to the driving direction of the vehicle.

17. The parking space determination method according to claim 16, wherein The coordinate value of the first valid detection point in the first direction is determined based on a first detection angle of a radar detection device of the vehicle, a first distance between the vehicle and the first valid detection point, and a first corresponding position of the vehicle, the first corresponding position of the vehicle being a position of the vehicle when the first valid detection point is detected by the vehicle.

18. The parking space determination method according to claim 16 or 17, characterized in that, The first coordinate value of the first corner point position is an average of coordinate values of a plurality of the first valid detection points in the first direction.

19. The parking space determination method according to any one of claims 16 to 18, characterized in that, The first valid detection point comprises a first boundary detection point of the first boundary detected by the vehicle in a first driving section of a preset driving length, a starting point of the first driving section being a position of the vehicle when the first boundary is first detected by the vehicle.

20. The parking space determination method according to any one of claims 16 to 19, characterized by, The first valid detection point comprises a first boundary detection point of the first boundary with a corresponding gradient parameter less than or equal to a preset gradient parameter threshold, the gradient parameter being used to represent a rate of change of a first distance between the corresponding first boundary detection point and the vehicle relative to a first distance between an adjacent first boundary detection point and the vehicle.

21. The parking space determination method according to any one of claims 13 to 20, characterized by, The second obstacle boundary line is determined based on positions of a plurality of second valid detection points of the second boundary.

22. The parking space determination method according to claim 21, wherein The position of the second valid detection point is determined based on a second distance between the vehicle and the second valid detection point and a second corresponding position of the vehicle, the second corresponding position of the vehicle being a position of the vehicle when the second valid detection point is detected by the vehicle.

23. The parking space determination method according to claim 22, wherein The second distance between the vehicle and the second valid detection point is a distance obtained by performing a median filter preprocessing on an original detection distance between the vehicle and the second valid detection point.

24. The parking space determination method according to claim 22 or 23, characterized in that, The second valid detection point comprises a second boundary detection point of the second boundary with a corresponding standard deviation less than or equal to a preset standard deviation threshold, the standard deviation being used to represent a standard deviation of a plurality of second distances between the vehicle and the second boundary detection point and a plurality of second boundary detection points adjacent to the second boundary detection point.

25. The parking space determination method according to any one of claims 21 to 24, characterized by, The second obstacle boundary line is determined when a detection result of the second effective detection point meets a first preset condition. The first preset condition includes that a number of the second effective detection points is greater than or equal to a preset number threshold, or a distance between two second effective detection points that are farthest apart among all the detected second effective detection points is greater than or equal to a preset distance.

26. The parking space determination method according to any one of claims 13 to 25, characterized in that, The first corner point position and / or the second obstacle boundary line are determined when a vehicle speed of the vehicle is within a preset vehicle speed range.

27. The parking space determination method according to any one of claims 13 to 26, characterized in that, The method further includes: determining a second corner point position of a second corner point of the obstacle according to the first obstacle boundary line, the second corner point being an end point of the first boundary away from the vehicle.

28. The parking space determination method according to claim 27, wherein The method further includes: controlling the vehicle to enter the parking space according to the first corner point position and the second corner point position.

29. An electronic device, comprising: The apparatus includes: a determining module configured to determine an obstacle boundary line of an effective parking space, and determine a first parking position based on the obstacle boundary line.

30. An electronic device, comprising: The electronic apparatus includes: a memory having a vehicle parking control program or a parking position determination program stored therein; and a processor connected to the memory, the processor being configured to invoke the vehicle parking control program to perform steps of the vehicle parking control method according to any one of claims 1-12, or to invoke the parking position determination program to perform steps of the parking position determination method according to any one of claims 13-28.

31. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium has a vehicle parking control program or a parking position determination program stored thereon, the vehicle parking control program or the parking position determination program including execution instructions configured to perform steps of the vehicle parking control method according to any one of claims 1-12 or steps of the parking position determination method according to any one of claims 13-28 when executed by a processor.

32. A vehicle characterized by The vehicle includes the electronic apparatus according to claim 29 or 30.

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