Parking control method and apparatus, and in-vehicle system, electronic apparatus and storage medium

Abstract

The present application relates to a parking control method and apparatus, and an in-vehicle system, an electronic apparatus and a storage medium. The parking control method comprises: when it is detected that a target parking space in which a target vehicle is about to be parked is a dead-end parking space, on the basis of vehicle parameters of the target vehicle, dividing a drivable area of the target vehicle into a plurality of pose adjustment areas; on the basis of the position of the target vehicle in the drivable area, determining, from among the plurality of pose adjustment areas, a target adjustment area to which the target vehicle belongs, and on the basis of the target adjustment area, determining a target initial adjustment path of an initial pose of the target vehicle; and on the basis of the target initial adjustment path, controlling the target vehicle to perform a parking manoeuvre operation until a vehicle angle of the target vehicle satisfies a preset angle threshold, and on the basis of a preset parking space planning algorithm, controlling the target vehicle to be parked in the target parking space.

Description

Parking control method and device, vehicle-mounted system, electronic device, and storage medium Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202411339614.2, filed on September 25, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to, but is not limited to, the field of vehicle control, in particular to a parking control method, device, vehicle-mounted system, electronic device, and storage medium. BACKGROUND

[0003] As a driving assistance technology, automatic parking technology can realize automatic parking operation of a vehicle in a limited space through a vehicle autonomous perception and control system. As an important application scenario of automatic driving technology, automatic parking has been widely applied to vehicles. SUMMARY

[0004] The following is a summary of the subject matter of the detailed description herein. This summary is not intended to limit the scope of the claims.

[0005] A parking control method, device, vehicle-mounted system, electronic device, storage medium, computer program product, and vehicle are provided in the embodiments of the present application.

[0006] In a first aspect, a parking control method is provided in the embodiments of the present application, including: in a case where a target parking space in which a target vehicle is to be parked is an end road parking space, dividing a drivable area of the target vehicle into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle; determining a target adjustment region to which the target vehicle belongs from the plurality of pose adjustment regions according to a position of the target vehicle in the drivable area, and determining a target initial adjustment path of an initial pose of the target vehicle according to the target adjustment region; wherein different pose adjustment regions are pre-set to correspond to different initial adjustment paths; controlling the target vehicle to perform a warehouse rubbing operation according to the target initial adjustment path until a vehicle angle of the target vehicle meets a preset angle threshold, and controlling the target vehicle to park in the target parking space based on a preset parking space planning algorithm.

[0007] In some embodiments, dividing the drivable area of the target vehicle into a plurality of pose adjustment regions according to the vehicle parameters of the target vehicle includes: determining a reference angle point of the target parking space; establishing a target coordinate system with the reference angle point as an origin of the coordinate system; and dividing the drivable area of the target vehicle into a plurality of pose adjustment regions according to the vehicle parameters in the target coordinate system.

[0008] In some embodiments, the drivable area of the target vehicle is divided into a plurality of the pose adjustment regions according to the vehicle parameters in the target coordinate system, including: determining a lateral range of each of the pose adjustment regions in the target coordinate system according to a wheelbase and a front suspension length of the target vehicle; and determining a longitudinal range of each of the pose adjustment regions in the target coordinate system according to a width of the target vehicle and an actual vehicle adjustable parameter.

[0009] In some embodiments, the target vehicle is controlled to perform a warehouse rubbing operation according to the target initial adjustment path until a vehicle angle of the target vehicle satisfies a preset angle threshold, and the target vehicle is controlled to park in the target parking space based on a preset parking space planning algorithm, including: generating an initial warehouse rubbing turning path according to the target initial adjustment path; controlling the target vehicle to perform pose adjustment based on the target initial adjustment path; performing warehouse rubbing operation on the target vehicle based on the initial warehouse rubbing turning path; repeatedly generating a new warehouse rubbing turning path based on a previous warehouse rubbing turning path and performing warehouse rubbing operation on the target vehicle based on the new warehouse rubbing turning path until the vehicle angle of the target vehicle satisfies the preset angle threshold; and in response to the vehicle angle satisfying the preset angle threshold, controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm.

[0010] In some embodiments, in response to the vehicle angle satisfying the preset angle threshold, the target vehicle is controlled to park in the target parking space based on a preset parking space planning algorithm, including: in response to the vehicle angle satisfying the preset angle threshold, controlling the target vehicle to park in the target parking space based on a parking space planning algorithm corresponding to a regular parking space which is a non-endless road parking space.

[0011] In some embodiments, a path direction of the initial warehouse rubbing turning path is opposite to a path direction of the target initial adjustment path, and / or a turning direction of the initial warehouse rubbing turning path is opposite to a turning direction of the target initial adjustment path.

[0012] In some embodiments, a path direction and a turning direction of the new warehouse rubbing turning path are opposite to a path direction and a turning direction of the previous warehouse rubbing turning path, respectively.

[0013] In some embodiments, the parking control method further includes: in response to the vehicle angle satisfying the preset angle threshold, transforming the target coordinate system of the target vehicle to obtain a transformed coordinate system, and controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm in the transformed coordinate system.

[0014] In some embodiments, the initial adjustment path comprises at least one of: a circular arc path corresponding to a minimum turning radius of the target vehicle when the rear axle center of the target vehicle is moving forward and turning left; a straight line path corresponding to the rear axle center of the target vehicle moving backward; a circular arc path corresponding to a minimum turning radius of the target vehicle when the rear axle center of the target vehicle is moving backward and turning right; a circular arc path corresponding to a minimum turning radius of the target vehicle when the rear axle center of the target vehicle is moving forward and turning right; and a circular arc path corresponding to a minimum turning radius of the target vehicle when the rear axle center of the target vehicle is moving backward and turning left.

[0015] In some embodiments, the parking control method further comprises: detecting, by a perception subsystem of the target vehicle, the target parking space and obstacles around the target parking space to determine whether the target parking space is an end-of-road parking space.

[0016] In a second aspect, a parking control apparatus is provided in embodiments of the present application, comprising: a division module configured to, in a case where it is detected that a target parking space in which a target vehicle is to be parked is an end-of-road parking space, divide a drivable region of the target vehicle into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle; an adjustment path planning module configured to determine a target adjustment region to which the target vehicle belongs from the plurality of pose adjustment regions according to a position of the target vehicle in the drivable region, and determine a target initial adjustment path of an initial pose of the target vehicle according to the target adjustment region; wherein different pose adjustment regions are pre-set to correspond to different initial adjustment paths; a garage adjusting module configured to control the target vehicle to perform a garage adjusting operation according to the target initial adjustment path until a vehicle angle of the target vehicle satisfies a preset angle threshold, and control the target vehicle to park in the target parking space based on a preset parking space planning algorithm.

[0017] In a third aspect, a vehicle-mounted system is provided in embodiments of the present application, comprising: a perception subsystem configured to detect whether a target parking space in which a target vehicle is to be parked is an end-of-road parking space; a positioning subsystem configured to detect a relative positional relationship between the target vehicle and the target parking space; at least one processor configured to execute the parking control method of the first aspect.

[0018] In a fourth aspect, an electronic device is provided in embodiments of the present application, comprising: at least one processor; at least one memory coupled with the at least one processor and configured to store computer program instructions, wherein the at least one processor is configured to read the computer program instructions from the at least one memory and run the computer program instructions to implement the parking control method of the first aspect.

[0019] In a fifth aspect, a non-transitory computer-readable storage medium is provided in the embodiments of the present application, and the non-transitory computer-readable storage medium stores computer program instructions. The computer program instructions are executed by at least one processor to implement the parking control method in the first aspect.

[0020] In a sixth aspect, a computer program product is provided in the embodiments of the present application, and the computer program product includes a computer program. The computer program is executed by at least one processor to implement the parking control method in the first aspect.

[0021] In a seventh aspect, a vehicle is provided in the embodiments of the present application, and the vehicle includes the vehicle-mounted system in the third aspect or the electronic device in the fourth aspect.

[0022] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the detailed description below. Other features, objects, and advantages of the present application will be apparent from the detailed description and drawings, and from the claims. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are included to provide a further understanding of the present application, illustrate embodiments of the present application and together with the detailed description below, serve to explain the present application. The drawings are not intended to be an undue limitation on the present application, and it is noted that one of ordinary skill in the art will be able to make and use the present application based on the detailed description and drawings without undue experimentation.

[0024] FIG. 1 is a hardware structure block diagram of a terminal for implementing a parking control method according to an embodiment of the present application;

[0025] FIG. 2 is a flowchart of a parking control method according to an embodiment of the present application;

[0026] FIG. 3A is a schematic diagram of a scenario of an end-of-road parking space according to an embodiment of the present application;

[0027] FIG. 3B is a schematic diagram of a scenario of an end-of-road parking space according to another embodiment of the present application;

[0028] FIG. 4 is a schematic diagram of a parking space angle when an end-of-road parking space is changed into a regular parking space according to an embodiment of the present application;

[0029] FIG. 5 is a schematic diagram of a parking space information transformation according to an embodiment of the present application;

[0030] FIG. 6 is a schematic diagram of a region division according to an embodiment of the present application;

[0031] FIG. 7A is a schematic diagram of path planning according to an embodiment of the present application;

[0032] FIG. 7B is a schematic diagram of path planning according to another embodiment of the present application;

[0033] FIG. 7C is a schematic diagram of path planning according to yet another embodiment of the present application;

[0034] FIG. 8 is a flowchart of a parking control method according to some embodiments of the present application;

[0035] FIG. 9 is a structural block diagram of a parking control device according to an embodiment of the present application;

[0036] FIG. 10 is a structural schematic diagram of an in-vehicle system according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to more clearly understand the objects, technical solutions and advantages of the present application, the present application will be described and explained in detail below in conjunction with the accompanying drawings and embodiments.

[0038] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the general meaning understood by a person with ordinary skill in the art to which the present application belongs. In the present application, the terms "one", "a", "an", "the", "these", and similar words do not represent a quantitative limitation, but can be singular or plural. In the present application, the terms "include", "contain", "have" and any variants thereof are intended to cover non-exclusive inclusion; for example, a process, method and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method and system, product or device. In the present application, the terms "connected", "connected", "coupled" and similar words do not limit to physical or mechanical connection, but can also include electrical connection, whether direct or indirect. In the present application, the term "multiple" refers to two or more. The term "and / or" describes the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. In general, the character " / " represents an "or" relationship between the associated objects. In the present application, the terms "first", "second", "third" and the like are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0039] In the scenario of automatic parking, for a regular parking space, the automatic parking technology can often achieve smooth parking based on a pre-set path planning algorithm, thereby reducing the parking pressure of the driver. However, for an irregular parking space such as a dead-end road parking space, the current automatic parking method is difficult to identify, and cannot achieve smooth and successful parking for the dead-end road parking space.

[0040] In view of the problem of low success rate of automatic parking for dead-end road parking spaces, the application provides a parking control method and device, a vehicle-mounted system, an electronic device, a storage medium, a computer program product and a vehicle.

[0041] The method embodiments provided in the embodiments of the application can be executed in a terminal, a computer or a similar computing device. Taking the execution of the parking control method according to the embodiments of the application on a terminal as an example, Fig. 1 is a hardware structure block diagram of a terminal executing a parking control method according to the embodiments of the application. As shown in Fig. 1, the terminal can include one or more (only one is shown in Fig. 1) processors 102 and one or more (only one is shown in Fig. 1) memories 104 for storing data. The processor 102 can include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal can also include a transmission device 106 for communication function and an input and output device 108. Those skilled in the art can understand that the structure shown in Fig. 1 is only schematic, which does not limit the structure of the terminal. For example, the terminal can include more or fewer components than those shown in Fig. 1, or have a different configuration from that shown in Fig. 1.

[0042] The memory 104 can be used to store computer programs, for example, software programs of application software and modules, such as a computer program corresponding to the parking control method in the embodiments of the application. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, that is, implements the above-mentioned method. The memory 104 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some embodiments, the memory 104 can further include a memory remotely arranged with respect to the processor 102, which can be connected to the terminal through a network. Embodiments of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0043] The transmission device 106 is used to receive or send data via a network. The above-mentioned network includes a wireless network provided by a communication provider of the terminal. In an embodiment, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In an embodiment, the transmission device 106 can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet in a wireless manner.

[0044] A parking control method is provided in the embodiments of the present application. FIG. 2 is a flowchart of the parking control method according to the embodiments of the present application. As shown in FIG. 2, the parking control method comprises the following steps S210-S230.

[0045] In step S210, in a case where it is detected that the target parking space in which the target vehicle is to be parked is an end-of-road parking space, a drivable region of the target vehicle is divided into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle.

[0046] The end-of-road parking space can be specifically a parking space located at the end of a road. The end-of-road parking space can be located at one side of the road, or there can be one end-of-road parking space at each side of the road. FIG. 3A is a schematic diagram of a scene of an end-of-road parking space according to an embodiment of the present application. FIG. 3B is a schematic diagram of a scene of an end-of-road parking space according to another embodiment of the present application. Referring to FIGS. 3A and 3B, the end of the road is a wall, and the target parking space located next to the wall at one side of the road is an end-of-road parking space. The ego vehicle in FIGS. 3A and 3B is a target vehicle that needs to be parked in the end-of-road parking space.

[0047] In some embodiments of the present application, whether the target parking space is an end-of-road parking space can be determined by a perception subsystem of the target vehicle. For example, the relative positional relationship between the target parking space and surrounding obstacles, lane markings, parking space layout and other information can be detected and recognized based on a camera, radar or other sensor devices, so as to determine whether the target parking space is an end-of-road parking space. At the same time, the pose information of the target vehicle can be obtained based on a positioning subsystem of the target vehicle, and the relative positional relationship between the target vehicle and the target parking space can be determined. Then, the drivable region in which the target vehicle is currently located is divided into a plurality of pose adjustment regions.

[0048] Considering that different relative positional relationships between the target vehicle and the target parking space will result in different planned paths of the target vehicle for parking in the target parking space, when it is determined that the target parking space is an end-of-road parking space, the drivable region in which the target vehicle is located can be first divided into a plurality of pose adjustment regions, and an initial adjustment path corresponding to each pose adjustment region can be determined. In this way, the success rate of parking planning can be improved. For example, the division of the pose adjustment regions can be performed according to the vehicle parameters of the target vehicle, with the condition of reducing the number of parking lot changes. The drivable region can be determined based on the initial pose of the target vehicle and the relative positional relationship between the target vehicle and the target parking space. In particular, the plurality of pose adjustment regions and the corresponding initial adjustment paths can be divided according to the vehicle parameters of the target vehicle and the minimum turning radius, with the principle of improving parking efficiency by reducing the number of parking lot changes of the target vehicle.

[0049] At step S220, according to the position of the target vehicle in the drivable area, a target adjustment area to which the target vehicle belongs is determined from a plurality of pose adjustment areas, and a target initial adjustment path of the initial pose of the target vehicle is determined according to the target adjustment area. In the embodiments of the present application, different pose adjustment areas are pre-set to correspond to different initial adjustment paths.

[0050] After the drivable area of the target vehicle is divided into a plurality of pose adjustment areas, the pose adjustment area to which the target vehicle currently belongs can be determined from the plurality of pose adjustment areas according to the position of the target vehicle in the drivable area, as the target adjustment area. Then, the pre-set initial adjustment path corresponding to the target adjustment area is determined as the target initial adjustment path. The initial adjustment path corresponding to each pose adjustment area is used to indicate the path adjustment of the initial pose of the target vehicle before turning. Exemplarily, the initial pose of the target vehicle can be the initial pose of the center of the rear axle of the target vehicle. In addition, according to the actual application needs, the initial pose of other parts of the target vehicle can also be selected as the initial pose of the target vehicle.

[0051] At step S230, according to the target initial adjustment path, the target vehicle is controlled to perform the warehouse rubbing operation until the vehicle angle of the target vehicle meets the preset angle threshold, and the target vehicle is controlled to park into the target parking space based on the pre-set parking planning algorithm.

[0052] In some embodiments of the present application, kneading the garage can refer to a process of adjusting the direction and position of the vehicle multiple times to park the vehicle into the parking space from the current position. After determining the target initial adjustment path of the initial pose of the target vehicle, the target vehicle can be planned based on the target initial adjustment path. Then, the complete parking planning path is obtained by combining the target initial adjustment path and the corresponding kneading turning path. During the process of controlling the target vehicle to knead the garage, it is detected in real time whether the vehicle angle of the target vehicle satisfies the preset angle threshold (for example, whether it is greater than or equal to the preset angle threshold). If the vehicle angle of the target vehicle satisfies the preset angle threshold, the kneading is stopped, and at this time, the target parking space relative to the target vehicle is no longer an end road parking space, so the target vehicle can be controlled to park into the target parking space based on the conventional parking space planning algorithm for non-end road parking spaces. FIG. 4 is a parking angle diagram of an end road parking space changing into a conventional parking space according to an embodiment of the present application. As shown in FIG. 4, the oblique vehicle not parked in the parking space is the target vehicle, and at this time, the parking angle of the target vehicle relative to the target parking space is greater than or equal to 150 degrees, so the target parking space relative to the target vehicle can be regarded as a conventional parking space of a non-end road parking space. At this time, the target vehicle can be controlled to park into the target parking space based on the parking space planning algorithm of the conventional parking space. For example, the target vehicle can be controlled to park into the target parking space based on the parking space planning algorithm of the conventional parking space, such as the circular-arc straight-line method, the heuristic search algorithm or the intelligent optimization algorithm. The X and Y axes in FIG. 4 are the coordinate axes of the coordinate system established based on the upper left corner point of the target parking space as the origin.

[0053] In particular, after the vehicle angle of the target vehicle satisfies the preset angle threshold by kneading the garage, and before parking space planning, the information of the target parking space can be transformed to ensure that the subsequent parking space planning can be successful. Specifically, the coordinate information of each corner point of the target parking space can be mirror-replaced. FIG. 5 is a parking space information transformation diagram according to an embodiment of the present application. As shown in FIG. 5, the target parking space has four corner points, A, B, C and D. The coordinate system of the target parking space established with the upper left corner point as the origin can be transformed into the coordinate system established with the upper right corner point as the origin, and the direction of the coordinate horizontal axis is reversed, so as to realize the replacement between the upper left corner point and the upper right corner point, and the replacement between the lower left corner point and the lower right corner point. After the information of the target parking space is transformed, the target vehicle is controlled to park based on the parking space planning algorithm of the conventional parking space.

[0054] In the related art, there is often a lack of recognition and parking space planning for dead-end road parking spaces, resulting in existing parking space planning algorithms having a high probability of parking interruption and failure during automatic parking in dead-end road parking spaces, and being unable to successfully park a vehicle in a dead-end road parking space, i.e., having a low parking success rate. In the embodiments of the present application, a planning method for dead-end road parking spaces is proposed, which is completed in three parts. First, the division of the pose adjustment area is performed, then the target vehicle's adjustment area is determined and the turning path is planned, and then the vehicle is controlled to adjust the warehouse based on the turning path planning, so that the dead-end road parking space is changed into a non-dead-end road parking space, and finally the general parking space planning algorithm is called to complete parking. Thus, compared with the related art, the embodiments of the present application can successfully park in a dead-end road parking space at any initial position, thereby improving the success rate and accuracy of the parking path planning in a dead-end road parking space. Further, the problem of user difficulty in parking in a dead-end road parking space is solved, and the experience of the entire parking system is improved.

[0055] The above steps S210 to S230, when detecting that the target parking space pre-parked by the target vehicle is a dead-end road parking space, dividing the drivable area of the target vehicle into a plurality of pose adjustment areas according to the vehicle parameters of the target vehicle; determining the target adjustment area to which the target vehicle belongs from the plurality of pose adjustment areas according to the position of the target vehicle in the drivable area, and determining the target initial adjustment path of the initial pose of the target vehicle according to the target adjustment area, wherein different pose adjustment areas are pre-set to correspond to different initial adjustment paths; controlling the target vehicle to adjust the warehouse according to the target initial adjustment path until the vehicle angle of the target vehicle after adjusting the warehouse meets the preset angle threshold, and then controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm. The parking control method according to the embodiments of the present application can realize parking path planning in a dead-end road parking space, thereby improving the parking success rate in a dead-end road parking space.

[0056] In one embodiment, based on the above step S210, the drivable area of the target vehicle is divided into a plurality of pose adjustment areas according to the vehicle parameters of the target vehicle, which can include: determining a reference angle point of the target parking space; establishing a target coordinate system with the reference angle point as the origin of the coordinate system; in the target coordinate system, the drivable area of the target vehicle is divided into a plurality of pose adjustment areas according to the vehicle parameters.

[0057] In some embodiments of the present application, one of the four corner points of the target parking space can be selected as a reference corner point, and a target coordinate system is established with the reference corner point as the origin of the coordinate system. FIG. 6 is a schematic diagram of a region division according to an embodiment of the present application. As shown in FIG. 6, the target parking space includes four corner points: A, B, C, and D. For example, the target coordinate system can be established with the top-left corner point A of the target parking space as the reference corner point, and the corresponding X-axis and Y-axis are determined. Then, in the target coordinate system, the drivable region of the target vehicle is divided into three pose adjustment regions according to the vehicle parameters of the target vehicle, with the condition of reducing the number of garage adjustments. The three pose adjustment regions are region 1, region 2, and region 3. The initial adjustment paths corresponding to region 1, region 2, and region 3 are different. Then, according to the position of the target vehicle, it is determined which region of the above three regions the target vehicle is in, so as to determine the target initial adjustment path corresponding to the target vehicle. For example, if the target vehicle belongs to region 1, the target initial adjustment path corresponding to the target vehicle is the initial adjustment path corresponding to region 1.

[0058] In the embodiments of the present application, the target coordinate system is established based on the target parking space, and the drivable region of the target vehicle is divided into multiple pose adjustment regions in the target coordinate system, which can improve the success rate of the parking path planning for the dead-end parking space.

[0059] More specifically, in an embodiment, in the target coordinate system, the drivable region of the target vehicle is divided into multiple pose adjustment regions according to the vehicle parameters, which can include: determining the lateral range of each of the multiple pose adjustment regions in the target coordinate system according to the wheelbase and the front suspension length of the target vehicle; and determining the longitudinal range of each of the multiple pose adjustment regions in the target coordinate system according to the width of the target vehicle and the actual adjustable parameters.

[0060] In some embodiments of the present application, the lateral range and the longitudinal range of the pose adjustment region can be determined according to various vehicle parameters of the target vehicle, under the principles of avoiding collision with surrounding obstacles, maximizing the use of available space, and minimizing the number of garage adjustments. For example, the drivable region can be divided into three pose adjustment regions based on the following formula: w f Region 2 is: x > -(L w f Region 3 is: wherein L w is the wheelbase, L f is the front suspension length, and W veh ​​​​where d is a real vehicle adjustable parameter (the range can be 0.5m to 5m, for example, 0.5m to 3m, 3m to 5m, or any value or sub-value range in the above numerical range). The x value range of the above region 1, region 2, and region 3 respectively represents the lateral range of the region (i.e., the range in the X-axis direction); the y value range represents the longitudinal range of the region (i.e., the range in the Y-axis direction). Based on this, the region division of region 1, region 2, and region 3 in the target coordinate system as shown in FIG. 6 can be achieved.

[0061] In the embodiments of the present application, the lateral range and longitudinal range of each pose adjustment region are determined according to the vehicle wheelbase, the vehicle front suspension length, the vehicle width, and the real vehicle adjustable parameter of the target vehicle, which can further improve the rationality of the region division, thereby providing a reliable basis for subsequent path planning for different regions, and further improving the success rate and efficiency of the final parking planning, and reducing the number of times of rubbing the garage.

[0062] In addition, in an embodiment, based on the above step S230, controlling the target vehicle to perform the rubbing operation according to the target initial adjustment path until the vehicle angle of the target vehicle meets the preset angle threshold, and controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm can include: generating an initial rubbing U-turn path according to the target initial adjustment path; controlling the target vehicle to perform pose adjustment based on the target initial adjustment path; performing rubbing operation on the target vehicle based on the initial rubbing U-turn path; repeatedly generating a new rubbing U-turn path based on the previous rubbing U-turn path, and performing rubbing operation on the target vehicle based on the new rubbing U-turn path until the vehicle angle of the target vehicle meets the preset angle threshold; in response to the vehicle angle of the target vehicle meeting the preset angle threshold, controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm.

[0063] Specifically, a plurality of rubbing U-turn paths can be planned according to the determined target initial adjustment path, and then the vehicle is controlled to perform rubbing based on the corresponding rubbing U-turn path repeatedly until it is detected that the parking angle of the target vehicle relative to the target parking space meets the preset angle threshold, and then the target vehicle is controlled to park in the target parking space based on the conventional parking space planning algorithm. For example, based on the target initial adjustment path, the first step rubbing U-turn path is determined to be a backward minimum turning radius right turn circular arc path (a right turn reverse path with a minimum turning radius), and the second step rubbing U-turn path is determined to be a forward minimum turning radius left turn circular arc path (a left turn forward path with a minimum turning radius); then in the rubbing process, the vehicle is controlled to perform rubbing according to the first step and second step rubbing U-turn paths repeatedly until the vehicle angle meets the predetermined angle threshold, for example, the vehicle angle reaches 150 degrees or reaches a certain angle threshold range, and then it is confirmed that the target parking space has been changed into a conventional parking space.

[0064] In the embodiments of the present application, the corresponding rubbing warehouse turning path is generated based on the target initial adjustment path, and the pose of the target vehicle is adjusted according to the target initial adjustment path, and then the target vehicle is controlled to rub the warehouse based on the rubbing warehouse turning path in a cycle until the vehicle angle of the target vehicle meets the preset angle requirement, so as to realize the successful conversion from the end road parking space to the regular parking space, and further improve the parking success rate of the vehicle in the end road parking space.

[0065] In particular, in an embodiment, the path direction (forward or backward) of the initial rubbing warehouse turning path is opposite to the path direction of the target initial adjustment path, and / or the turning direction (left turn or right turn) of the initial rubbing warehouse turning path is opposite to the turning direction of the target initial adjustment path.

[0066] That is, when generating the rubbing warehouse turning path, the path direction of the initial rubbing warehouse turning path is determined according to the path direction of the target initial adjustment path, and / or the turning direction of the initial rubbing warehouse turning path is determined according to the turning direction of the target initial adjustment path. Then, the next rubbing warehouse turning path can be set based on the initial rubbing warehouse turning path, for example, the path direction and the turning direction of the next rubbing warehouse turning path are opposite to the path direction and the turning direction of the initial rubbing warehouse turning path. In some embodiments of the present application, the first path of the rubbing warehouse turning path is opposite to the forward or backward direction of the target initial adjustment path, and the steering direction is also opposite to the left or right direction of the target initial adjustment path.

[0067] For example, if the target initial adjustment path is in the forward direction, the path direction of the first step rubbing warehouse turning path is in the backward direction; otherwise. Taking the target parking space on the right side of the target vehicle as an example: when the target initial adjustment path is in the forward direction, the first step rubbing warehouse turning path is a backward minimum turning radius right turning circular arc path, and the second step rubbing warehouse turning path is a forward minimum turning radius left turning circular arc path.

[0068] In the embodiments of the present application, the path direction and the turning direction of the rubbing warehouse turning path are set based on the path direction and the turning direction of the target initial adjustment path, which can realize accurate rubbing path planning, thereby reducing the rubbing times and improving the parking efficiency.

[0069] In particular, in an embodiment, the initial adjustment path includes at least one of the following: a circular arc path with a vehicle rear axle center forward left turning minimum turning radius; a straight line path with a vehicle rear axle center backward; a circular arc path with a vehicle rear axle center backward right turning minimum turning radius; a circular arc path with a vehicle rear axle center forward right turning minimum turning radius; and a circular arc path with a vehicle rear axle center backward left turning minimum turning radius.

[0070] FIG. 7A is a schematic diagram of a kneading-turning path according to an embodiment of the present application; FIG. 7B is a schematic diagram of a kneading-turning path according to another embodiment of the present application; and FIG. 7C is a schematic diagram of a kneading-turning path according to yet another embodiment of the present application. The initial pose of the target vehicle in FIGS. 7A, 7B and 7C can be the initial pose of the center of the rear axle of the target vehicle. For example, in combination with FIG. 6 and FIG. 7A, when the initial pose of the target vehicle is in region 1, the corresponding initial adjustment path can be a circular arc path corresponding to the minimum turning radius of forward left turning of the vehicle rear axle center. Referring to FIG. 7A, the target vehicle will first adjust the pose through the initial adjustment path of forward left turning, and then perform kneading based on the corresponding kneading-turning path. In combination with FIG. 6 and FIG. 7B, when the initial pose of the target vehicle is in region 2, the corresponding initial adjustment path can be a straight path corresponding to the vehicle rear axle center retreating. Referring to FIG. 7B, the complete planning path of the target vehicle is to first adjust the vehicle pose through the initial adjustment path of backward straight retreating, and then perform kneading based on the kneading-turning path corresponding to the initial adjustment path. In combination with FIG. 6 and FIG. 7C, when the initial pose of the target vehicle is in region 3, the corresponding initial adjustment path can be a circular arc path corresponding to the minimum turning radius of backward right turning of the vehicle rear axle center. Referring to FIG. 7C, the target vehicle will first adjust the pose through the initial adjustment path of backward right turning, and then perform kneading based on the corresponding kneading-turning path.

[0071] Based on this, embodiments of the present application can realize different path planning for different positions of the target vehicle by configuring different initial adjustment paths for different pose adjustment regions of the target vehicle, and then planning corresponding kneading-turning paths, thereby improving the subsequent parking success rate and reducing the number of kneading.

[0072] FIG. 8 is a flowchart of a parking control method according to some embodiments of the present application. As shown in FIG. 8, the parking control method includes the following steps S801 to S805.

[0073] In step S801, the target parking space is detected to determine whether the target parking space is an end-of-road parking space. For example, the target parking space and surrounding obstacles can be detected by a perception subsystem of the target vehicle to determine whether the target parking space is an end-of-road parking space.

[0074] In step S802, in the case where it is determined that the target parking space is an end-of-road parking space, the drivable region of the target vehicle is divided into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle. For example, the lateral range of each of the plurality of pose adjustment regions in the target coordinate system is determined according to the vehicle wheelbase and the vehicle front suspension length of the target vehicle; and the longitudinal range of each of the plurality of pose adjustment regions in the target coordinate system is determined according to the width of the target vehicle and the actual adjustable parameters.

[0075] At step S803, a target adjustment region to which the target vehicle belongs is determined from the plurality of pose adjustment regions according to the initial pose of the target vehicle.

[0076] At step S804, an initial adjustment path corresponding to the target adjustment region is obtained according to the target adjustment region of the target vehicle, and a target initial adjustment path of the target vehicle is obtained.

[0077] At step S805, a warehouse kneading turning path of the target vehicle is determined according to the target initial adjustment path, and the target vehicle is controlled to perform pose adjustment according to the target initial adjustment path, and then the target vehicle is controlled to perform warehouse kneading based on the corresponding warehouse kneading turning path until the vehicle angle of the target vehicle meets a preset angle threshold, and the target vehicle is controlled to park in the target parking space based on a preset parking space planning algorithm.

[0078] Through the above steps S801 to S805, the parking path planning in the end road parking space scenario can be realized, thereby improving the parking success rate in the end road parking space scenario.

[0079] The embodiments of the application also provide a parking control device, which is used to implement the embodiments / implementation manners of the above parking control method, and details are not repeated. The terms "module", "unit", "sub-unit" and the like used below can be implemented as a combination of software and / or hardware with a predetermined function. Although the device described in the following embodiments is implemented in software, the implementation of hardware or a combination of software and hardware is also possible and is conceived.

[0080] FIG. 9 is a structural block diagram of a parking control device 90 according to an embodiment of the application, as shown in FIG. 9, the parking control device 90 includes a division module 92, an adjustment path planning module 94, and a warehouse kneading module 96.

[0081] The division module 92 is configured to, in a case where it is detected that the target parking space in which the target vehicle is to be parked is an end road parking space, divide a drivable region of the target vehicle into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle.

[0082] The adjustment path planning module 94 is configured to determine a target adjustment region to which the target vehicle belongs from the plurality of pose adjustment regions according to a position of the target vehicle in the drivable region, and determine a target initial adjustment path of the initial pose of the target vehicle according to the target adjustment region. In the embodiments of the application, different pose adjustment regions are pre-set to correspond to different initial adjustment paths.

[0083] The warehouse kneading module 96 is configured to control the target vehicle to perform a warehouse kneading operation according to the target initial adjustment path until the vehicle angle of the target vehicle meets a preset angle threshold, and control the target vehicle to park in the target parking space based on a preset parking space planning algorithm.

[0084] It should be noted that the above various modules can be functional modules or program modules, which can be implemented by software or hardware. For the modules implemented by hardware, the above various modules can be located in the same processor; or the above various modules can also be located in different processors in any combination.

[0085] The embodiment of the present application also provides a vehicle-mounted system. FIG. 10 is a structural schematic diagram of a vehicle-mounted system 10 according to the embodiment of the present application. As shown in FIG. 10, the vehicle-mounted system 10 includes a perception subsystem 12, a positioning subsystem 14, and a processor 16. In the embodiment of the present application, the perception subsystem 12 is configured to detect whether a target parking space, in which a target vehicle is to be parked, is an end-of-road parking space; the positioning subsystem 14 is configured to detect a relative positional relationship between the target vehicle and the target parking space; and the processor 16 is configured to perform the parking control method provided in the above embodiment.

[0086] The embodiment of the present application also provides an electronic device including at least one memory and at least one processor. The at least one memory is coupled to the at least one processor and is configured to store computer program instructions. The at least one processor is configured to read the computer program instructions from the at least one memory and execute the computer program instructions to perform the parking control method described in any of the above embodiments.

[0087] Optionally, the electronic device can further include a transmission device and an input / output device. The transmission device is connected to the processor, and the input / output device is connected to the processor.

[0088] Optionally, in the embodiment of the present application, the processor can be configured to perform the following steps S1 to S3 through the computer program.

[0089] In step S1, in a case where it is detected that the target parking space, in which the target vehicle is to be parked, is an end-of-road parking space, a drivable region of the target vehicle is divided into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle.

[0090] In step S2, a target adjustment region to which the target vehicle belongs is determined from the plurality of pose adjustment regions according to a position of the target vehicle in the drivable region, and a target initial adjustment path of an initial pose of the target vehicle is determined according to the target adjustment region. In the embodiment of the present application, different pose adjustment regions are pre-set to correspond to different initial adjustment paths.

[0091] In step S3, the target vehicle is controlled to perform a warehouse rolling operation according to the target initial adjustment path until a vehicle angle of the target vehicle meets a preset angle threshold, and the target vehicle is controlled to park in the target parking space based on a preset parking space planning algorithm.

[0092] It should be noted that the specific examples in the present embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be repeated in the present embodiment.

[0093] In addition, in combination with the parking control method provided in the above embodiments, a non-transitory computer-readable storage medium can also be provided in the present embodiment. The storage medium stores computer program instructions; the computer program instructions are executed by a processor to implement the parking control method described in any of the above embodiments.

[0094] It should be understood that the specific embodiments described herein are intended to explain the application, but not to limit it. According to the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0095] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0096] The accompanying drawings are only some examples or embodiments of the present application, and those of ordinary skill in the art can also apply the present application to other similar situations according to the drawings, without the need for creative labor. In addition, it can be understood that although the work done in the development process may be complex and long, for those of ordinary skill in the art, some design, manufacture or production changes according to the technical content disclosed in the present application are only routine technical means and should not be regarded as insufficient disclosure of the present application.

[0097] The term "embodiment / implementation" in the present application means that the specific features, structures or characteristics described in combination with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean independence or alternative to other embodiments. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0098] Those skilled in the art can understand that all or part of the steps in the foregoing method can be instructed by programs to related hardware (for example, a processor), and the programs can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk. Alternatively, all or part of the steps of the foregoing embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the foregoing embodiments can be implemented in the form of hardware, for example, by an integrated circuit to implement its corresponding function, or in the form of a software function module, for example, by a processor executing programs / instructions stored in a memory to implement its corresponding function. The present application is not limited to any specific form of combination of hardware and software.

[0099] The above-described embodiments are merely representative of several embodiments of the present application, which are described in a relatively specific and detailed manner, but should not be construed as limiting the scope of protection of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A parking control method, comprising: in a case where a target parking space in which a target vehicle is to be parked is an end road parking space, dividing a drivable area of the target vehicle into a plurality of pose adjustment areas according to vehicle parameters of the target vehicle; determining a target adjustment area to which the target vehicle belongs from the plurality of pose adjustment areas according to a position of the target vehicle in the drivable area, and determining a target initial adjustment path of an initial pose of the target vehicle according to the target adjustment area; wherein different pose adjustment areas are pre-configured to correspond to different initial adjustment paths; controlling the target vehicle to perform a rolling stock operation according to the target initial adjustment path until a vehicle angle of the target vehicle meets a preset angle threshold, and controlling the target vehicle to park in the target parking space based on a preset parking space planning algorithm.

2. The parking control method according to claim 1, wherein dividing a drivable area of the target vehicle into a plurality of pose adjustment areas according to vehicle parameters of the target vehicle, comprising: determining a reference angle point of the target parking space; establishing a target coordinate system with the reference angle point as an origin of the coordinate system; in the target coordinate system, dividing the drivable area of the target vehicle into a plurality of pose adjustment areas according to the vehicle parameters.

3. The parking control method according to claim 2, wherein in the target coordinate system, dividing the drivable area of the target vehicle into a plurality of pose adjustment areas according to the vehicle parameters, comprising: determining a lateral range of each pose adjustment area in the target coordinate system according to a wheelbase and a front suspension length of the target vehicle; determining a longitudinal range of each pose adjustment area in the target coordinate system according to a width of the target vehicle and an actual vehicle adjustable parameter.

4. The parking control method according to any one of claims 1 to 3, wherein, controlling the target vehicle to perform a rolling stock operation according to the target initial adjustment path until a vehicle angle of the target vehicle meets a preset angle threshold, and controlling the target vehicle to park in the target parking space based on a preset parking space planning algorithm, comprising: generating an initial rolling stock turning path according to the target initial adjustment path; controlling the target vehicle to perform pose adjustment based on the target initial adjustment path; performing rolling stock operation on the target vehicle based on the initial rolling stock turning path; recursively generating a new rolling stock turning path based on a previous rolling stock turning path, and performing rolling stock operation on the target vehicle based on the new rolling stock turning path until the vehicle angle of the target vehicle meets the preset angle threshold; in response to the vehicle angle meeting the preset angle threshold, controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm.

5. The parking control method according to claim 4, wherein in response to the vehicle angle meeting the preset angle threshold, controlling the target vehicle to park in the target parking space based on the preset parking space planning algorithm, comprising: in response to the vehicle angle meeting the preset angle threshold, controlling the target vehicle to park in the target parking space based on a parking space planning algorithm corresponding to a regular parking space which is not an end road parking space.

6. The parking control method according to claim 4 or 5, wherein The path direction of the initial warehouse kneading turning path is opposite to the path direction of the target initial adjustment path, and / or the turning direction of the initial warehouse kneading turning path is opposite to the turning direction of the target initial adjustment path.

7. The parking control method according to any one of claims 4 to 6, wherein, The path direction and the turning direction of the new warehouse kneading turning path are opposite to the path direction and the turning direction of the previous warehouse kneading turning path respectively.

8. The parking control method of claim 2 or 3, further comprising: in response to the vehicle angle satisfying the preset angle threshold, transforming the target coordinate system of the target vehicle to obtain a transformed coordinate system, and controlling the target vehicle to park into the target parking space based on the preset parking space planning algorithm in the transformed coordinate system.

9. The parking control method according to any one of claims 1 to 8, wherein, The initial adjustment path includes at least one of: a circular arc path corresponding to a minimum turning radius of left turning of the rear axle center of the target vehicle; a straight line path corresponding to rearward movement of the rear axle center of the target vehicle; a circular arc path corresponding to a minimum turning radius of right turning of the rear axle center of the target vehicle; a circular arc path corresponding to a minimum turning radius of right turning of the rear axle center of the target vehicle; and a circular arc path corresponding to a minimum turning radius of left turning of the rear axle center of the target vehicle.

10. The parking control method of any one of claims 1 to 9, further comprising: detecting the target parking space and obstacles around the target parking space by a perception subsystem of the target vehicle to determine whether the target parking space is an end-of-road parking space.

11. A parking control device, comprising: a division module configured to, in a case where it is detected that a target parking space in which a target vehicle is to be parked is an end-of-road parking space, divide a drivable region of the target vehicle into a plurality of pose adjustment regions according to vehicle parameters of the target vehicle; an adjustment path planning module configured to determine a target adjustment region to which the target vehicle belongs from the plurality of pose adjustment regions according to a position of the target vehicle in the drivable region, and determine a target initial adjustment path of an initial pose of the target vehicle according to the target adjustment region; wherein different pose adjustment regions are pre-set to correspond to different initial adjustment paths; a warehouse kneading module configured to control the target vehicle to perform warehouse kneading operations according to the target initial adjustment path until a vehicle angle of the target vehicle satisfies a preset angle threshold, and control the target vehicle to park into the target parking space based on a preset parking space planning algorithm.

12. A vehicle-mounted system, comprising: a perception subsystem configured to detect whether a target parking space in which a target vehicle is to be parked is an end-of-road parking space; a positioning subsystem configured to detect a relative positional relationship between the target vehicle and the target parking space; and at least one processor configured to execute the parking control method of any one of claims 1 to 10.

13. An electronic device, comprising: at least one processor; and at least one memory coupled to the at least one processor and configured to store computer program instructions, The at least one processor is configured to read the computer program instructions from the at least one memory and execute the computer program instructions to perform the parking control method of any one of claims 1 to 10.

14. A non-transitory computer-readable storage medium, wherein, The non-transitory computer readable storage medium has stored thereon computer program instructions which, when executed by at least one processor, implement the parking control method of any one of claims 1 to 10.

15. A computer program product comprising a computer program which, when executed by at least one processor, implements the parking control method of any one of claims 1 to 10.

16. A vehicle comprising the vehicle-mounted system of claim 12 or the electronic device of claim 13.

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