Parking space determination method and apparatus, device, and vehicle

Abstract

A parking space determination method and apparatus, a device, and a vehicle. The parking space determination method comprises: using a preset parking space information detection model to acquire parking space information on the basis of an environmental bird's eye view image around a vehicle; obtaining an optimized parking space heading angle on the basis of the parking space information; and determining the position of a parking space on the basis of the optimized parking space heading angle and the parking space information.

Description

Storage location determination methods, devices, equipment and vehicles Cross-references to related applications This application claims priority to Chinese patent application No. 202411822225.5, filed on December 11, 2024, which is incorporated herein by reference. Technical Field

[0001] This disclosure relates to the field of automated parking technology, specifically to a parking space determination method, device, equipment, and vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, automatic parking has become an important indicator of a vehicle's intelligence level. Accurately and quickly identifying parking spaces is one of the key steps in achieving automatic parking. Most existing automatic parking technologies rely on surround-view cameras around the vehicle to capture environmental information and stitch this information together to create a bird's-eye view (BEV) image. Deep learning methods are then used to extract features from this BEV image to identify the type and location of the parking space.

[0003] However, in practical applications, especially in complex and ever-changing urban environments, uneven road surfaces are a frequent occurrence. Uneven surfaces cause changes in the shooting angle of the surround-view camera, thus affecting the stitching accuracy of the environmental bird's-eye view images. When there are significant errors in the stitching of the environmental bird's-eye view images, the detected coordinates of the parking space will deviate significantly from the actual coordinates. This not only reduces the success rate of automatic parking but may also damage the vehicle and surrounding obstacles. Summary of the Invention

[0004] In view of the above, it is necessary to propose a parking location determination method, device, equipment and vehicle to solve the technical problem that when there is a large error in the stitching of environmental bird's-eye view images, it will not only reduce the success rate of automatic parking, but may also cause damage to the vehicle and surrounding obstacles.

[0005] In a first aspect, this disclosure provides a method for determining a storage location, the method comprising: acquiring storage location information based on a bird's-eye view image of the environment surrounding a vehicle using a preset storage location information detection model; obtaining an optimized storage location heading angle based on the storage location information; and determining the location of the storage location based on the optimized storage location heading angle and the storage location information.

[0006] In the above-described method for determining parking spaces, the environmental bird's-eye view image is analyzed using a preset parking space information detection model to accurately extract parking space information. By analyzing various factors within the parking space information, the method dynamically adapts to environmental changes and uncertainties, obtaining a more accurate parking space heading angle. This ensures that subsequent vehicles enter the parking space at the correct angle. The parking space information provides attributes such as the shape and size of the parking space itself, and the optimized parking space heading angle clarifies the direction of the parking space. The combination of these two aspects enables precise spatial positioning of the parking space, facilitating accurate subsequent operations, such as accurately parking vehicles within the space. Therefore, the parking space determination method of this disclosure can comprehensively and accurately determine the location of parking spaces, improving the success rate of automatic parking and reducing the risk of collisions during automatic parking.

[0007] In some embodiments of this disclosure, obtaining the optimized storage location heading angle based on the storage location information includes: determining the reference line based on the storage location information; and obtaining the optimized storage location heading angle based on the reference line, wherein the optimized storage location heading angle is the angle between the reference line and the entrance line of the storage location.

[0008] In some embodiments of this disclosure, the environmental bird's-eye view image is formed by stitching together multiple environmental images around the vehicle acquired by a surround-view camera on the vehicle. The storage location information includes the position information of a first dividing line and a second dividing line of the storage location. Determining the reference line based on the storage location information includes: acquiring the position information of the stitched line in the environmental bird's-eye view image; determining whether the first dividing line intersects with the stitched line based on the position information of the first dividing line and the stitched line, and determining whether the second dividing line intersects with the stitched line based on the position information of the second dividing line and the stitched line; if the first dividing line intersects with the stitched line and the second dividing line does not intersect with the stitched line, the second dividing line is used as the reference line; if the first dividing line does not intersect with the stitched line and the second dividing line intersects with the stitched line, the first dividing line is used as the reference line.

[0009] In some embodiments of this disclosure, the storage location information further includes the coordinates of the first entrance point of the storage location, the coordinates of the second entrance point of the storage location, and the coordinates of the surround-view camera. Determining the reference line based on the storage location information further includes: if both the first dividing line and the second dividing line intersect the splicing line, calculating a first distance between the first entrance point and the surround-view camera based on the coordinates of the first entrance point and the coordinates of the surround-view camera, and calculating a second distance between the second entrance point and the surround-view camera based on the coordinates of the second entrance point and the coordinates of the surround-view camera; if the first distance is less than the second distance, using the first dividing line as the reference line; if the first distance is greater than or equal to the second distance, using the second dividing line as the reference line.

[0010] In some embodiments of this disclosure, the storage location information further includes the location information of the entrance line of the storage location. Determining the reference line based on the storage location information further includes: if the first dividing line, the second dividing line, and the splicing line do not intersect, determining a first angle between the first dividing line and the entrance line based on the location information of the first dividing line and the entrance line, and determining a second angle between the second dividing line and the entrance line based on the location information of the second dividing line and the entrance line; if both the first angle and the second angle are less than a preset angle threshold, and the first angle is less than the second angle, using the first dividing line as the reference line; if both the first angle and the second angle are less than the preset angle threshold, and the first angle is greater than or equal to the second angle, using the second dividing line as the reference line.

[0011] In some embodiments of this disclosure, determining the reference line based on the storage location information further includes: if the first included angle is less than the preset angle threshold and the second included angle is greater than or equal to the preset angle threshold, the first dividing line is used as the reference line; if the second included angle is less than the preset angle threshold and the first included angle is greater than or equal to the preset angle threshold, the second dividing line is used as the reference line.

[0012] In some embodiments of this disclosure, determining the reference line based on the storage location information further includes: if both the first included angle and the second included angle are greater than or equal to the preset angle threshold, and the first distance is less than the second distance, the first dividing line is used as the reference line; if both the first included angle and the second included angle are greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, the second dividing line is used as the reference line.

[0013] In some embodiments of this disclosure, the storage location information includes the coordinates of the first entrance point of the storage location, the coordinates of the second entrance point of the storage location, and the length of the storage location. Determining the location of the storage location based on the optimized storage location heading angle and the storage location information includes: calculating the coordinates of the first tail point of the storage location based on the length of the storage location, the coordinates of the first entrance point, and the optimized storage location heading angle; calculating the coordinates of the second tail point of the storage location based on the length of the storage location, the coordinates of the second entrance point, and the optimized storage location heading angle; and determining the location of the storage location based on the coordinates of the first entrance point, the second entrance point, the first tail point, and the second tail point.

[0014] In some embodiments of this disclosure, the preset storage location information detection model is obtained by: acquiring multiple historical environmental bird's-eye view images and labeling storage location information on the multiple historical environmental bird's-eye view images; constructing a training dataset based on the multiple historical environmental bird's-eye view images labeled with the storage location information; constructing an initial storage location information detection model; and training the initial storage location information detection model according to the training dataset to obtain the preset storage location information detection model.

[0015] Secondly, this disclosure also provides a storage location determination device, the device comprising: an acquisition module, configured to acquire storage location information based on a bird's-eye view image of the environment surrounding a vehicle using a preset storage location information detection model; an optimization module, configured to obtain an optimized storage location heading angle based on the storage location information; and a determination module, configured to determine the location of the storage location based on the optimized storage location heading angle and the storage location information.

[0016] Thirdly, this disclosure also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the warehouse location determination method described in the above embodiments.

[0017] Fourthly, this disclosure also provides a vehicle that includes the electronic equipment described in the above embodiments.

[0018] Understandably, the storage location determination device of the second aspect, the electronic device of the third aspect, and the vehicle of the fourth aspect provided above all correspond to the storage location determination method of the first aspect. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding storage location determination methods provided above, and will not be repeated here. Attached Figure Description

[0019] Figure 1 is a schematic diagram of an application scenario of the warehouse location determination method provided in an embodiment of this disclosure.

[0020] Figure 2 is a schematic flowchart of a warehouse location determination method provided in an embodiment of this disclosure.

[0021] Figure 3 is a schematic diagram of the structure of a storage location provided in an embodiment of this disclosure.

[0022] Figure 4 is a detailed flowchart of part of step S11 in the warehouse location determination method provided in an embodiment of this disclosure.

[0023] Figure 5 is a detailed flowchart of step S12 in the warehouse location determination method provided in an embodiment of this disclosure.

[0024] Figures 6A and 6B are schematic diagrams illustrating the application of a warehouse location determination method provided in an embodiment of this disclosure in an environment with uneven road surfaces.

[0025] Figures 7A and 7B are schematic diagrams illustrating the application of the warehouse location determination method provided in an embodiment of this disclosure in a scenario with camera shake.

[0026] Figure 8 is a schematic diagram of the functional modules of a warehouse location determination device provided in an embodiment of this disclosure.

[0027] Component symbol description: Vehicle 1; Electronic device 10; Memory 11; Processor 12; Surround view camera 20; First dividing line A; Second dividing line B; Entrance line C; First entrance point a; Second entrance point b; First tail point c; Second tail point d; First included angle α; Second included angle β; Storage location determination device 100; Acquisition module 110; Optimization module 120; Determination module 130. Detailed Implementation

[0028] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this disclosure, and should not be construed as limiting this disclosure.

[0029] In the embodiments disclosed herein, it should be noted that, unless otherwise expressly specified and limited, the word "for example" is used to indicate an example, illustration, or description. Any embodiment or design scheme described as "for example" in the embodiments of this disclosure should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the word "for example" is intended to present the relevant concepts in a specific manner.

[0030] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0031] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. Furthermore, in the description of this disclosure, "a plurality of" means two or more, unless otherwise expressly and specifically limited.

[0032] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0033] Please refer to Figure 1, which is a schematic diagram of an application scenario of a warehouse location determination method provided in an embodiment of this disclosure.

[0034] This disclosure provides a method for determining the location of a storage facility, which can be applied to one or more electronic devices 10. The electronic device 10 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0035] In some embodiments of this disclosure, the electronic device 10 is used to obtain storage location information based on a bird's-eye view image of the environment surrounding the vehicle 1 using a preset storage location information detection model; obtain an optimized storage location heading angle based on the storage location information; and determine the location of the storage location according to the optimized storage location heading angle and the storage location information.

[0036] In some embodiments of this disclosure, the electronic device 10 can be communicatively connected to devices such as desktop computers, laptops, handheld computers, and cloud servers.

[0037] In some embodiments of this disclosure, the electronic device 10 can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control device.

[0038] In some embodiments of this disclosure, the electronic device 10 may further include network devices and / or client devices. These network devices include, but are not limited to, a single network server, a server group consisting of multiple network servers, and a cloud server based on cloud computing, consisting of a large number of hosts or network servers.

[0039] In some embodiments of this disclosure, the network where the electronic device 10 is located includes, but is not limited to, the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0040] In some embodiments of this disclosure, a vehicle 1 is also provided, which includes an electronic device 10. The electronic device 10 may be an on-board device of the vehicle 1, such as a Body Control Module (BCM) or a Vehicle Control Unit (VCU).

[0041] Figure 2 is a schematic diagram of the steps of a warehouse location determination method provided in an embodiment of this disclosure.

[0042] As shown in Figure 2, in some embodiments of this disclosure, the method for determining the storage location specifically includes the following steps S10 to S12. Depending on different needs, the order of some steps in this flowchart can be changed, and some steps can be omitted.

[0043] Step S10: Use a preset storage location information detection model to obtain storage location information based on a bird's-eye view image of the environment around the vehicle.

[0044] In some embodiments of this disclosure, the environmental bird's-eye view image is formed by stitching together multiple environmental images of the surroundings of vehicle 1 acquired by a surround-view camera 20 on vehicle 1. The electronic device 10 is communicatively connected to the surround-view camera 20. The steps for acquiring the environmental bird's-eye view image may include: acquiring multiple environmental images through multiple surround-view cameras 20 around vehicle 1; and stitching the multiple environmental images together to obtain the environmental bird's-eye view image. The surround-view camera 20 may be a fisheye lens.

[0045] Specifically, surround-view cameras 20 with a field of view (FOV) of 180° or more are installed around vehicle 1 at the front, rear, left, and right sides, and the position of each surround-view camera 20 relative to vehicle 1 is pre-calibrated. Each surround-view camera 20 acquires a corresponding environmental image, resulting in four environmental images. Distortion correction is performed on each environmental image. Coordinate mapping is performed on the distortion-corrected environmental images based on the positions of the surround-view cameras 20; the multiple coordinate-mapped environmental images are then stitched together to obtain a corresponding bird's-eye view image of the environment.

[0046] In some embodiments of this disclosure, as shown in Figure 3, the storage location information includes, but is not limited to, storage location type (e.g., vertical storage location, inclined storage location, horizontal storage location), location information of the first dividing line A of the storage location, location information of the second dividing line B of the storage location, coordinates (x1, y1) of the first entrance point a of the storage location, coordinates (x2, y2) of the second entrance point b of the storage location, and coordinates (x1, y1) of the surround-view camera 20. c ,y c The information includes the location of the storage location's entrance line C and its length L. The entrance line C is located between the first dividing line A and the second dividing line B, forming a first angle α and a second angle β with A and B respectively. In this paper, the angle between the dividing line and the entrance line is also referred to as the storage location's heading angle.

[0047] In some embodiments of this disclosure, the specific steps for obtaining a preset storage location information detection model may include: acquiring multiple historical environmental bird's-eye view images and marking the required storage location information on the historical environmental bird's-eye view images; constructing a training dataset based on the multiple historical environmental bird's-eye view images marked with storage location information; constructing an initial storage location information detection model (e.g., a YOLOv7 model); and training the initial storage location information detection model according to the training dataset to obtain the preset storage location information detection model.

[0048] Step S11: Based on the storage location information, obtain the optimized storage location heading angle.

[0049] In some embodiments of this disclosure, step S11, obtaining the optimized warehouse location heading angle based on the warehouse location information, specifically includes: determining a reference line based on the warehouse location information; and obtaining the optimized warehouse location heading angle based on the reference line. The optimized warehouse location heading angle is the angle between the reference line and the entrance line of the warehouse location.

[0050] It should be noted that the process of obtaining the optimized warehouse location heading angle based on the warehouse location information is described in detail in the steps shown in Figure 4. To avoid repetition, it will not be repeated here.

[0051] Step S12: Determine the location of the storage location based on the optimized storage location heading angle and storage location information.

[0052] In some embodiments of this disclosure, step S12, determining the location of the storage location based on the optimized storage location heading angle and storage location information, specifically includes: calculating the coordinates of the first tail point c of the storage location based on the length of the storage location, the coordinates of the first entry point a, and the optimized storage location heading angle; calculating the coordinates of the second tail point d of the storage location based on the length of the storage location, the coordinates of the second entry point b, and the optimized storage location heading angle; and determining the location of the storage location based on the coordinates of the first entry point a, the second entry point b, the first tail point c, and the second tail point d.

[0053] It should be noted that the steps for determining the location of the storage facility based on the optimized storage location heading angle and storage location information are described in detail in the subsequent steps shown in Figure 5. To avoid repetition, they will not be repeated here.

[0054] In the above-described method for determining parking spaces, the environmental bird's-eye view image is analyzed using a preset parking space information detection model to accurately extract parking space information. By analyzing various factors within the parking space information, the method dynamically adapts to environmental changes and uncertainties, obtaining a more accurate parking space heading angle. This ensures that vehicle 1 enters the parking space at the correct angle. The parking space information provides attributes such as the shape and size of the parking space, and the optimized heading angle clarifies the direction of the parking space. The combination of these two aspects enables precise spatial positioning of the parking space, facilitating accurate subsequent operations, such as ensuring vehicle 1 accurately parks itself. Therefore, the parking space determination method of this disclosure can comprehensively and accurately determine the location of parking spaces, improving the success rate of automatic parking and reducing the collision risk of vehicle 1 during automatic parking.

[0055] Figure 4 is a detailed flowchart of step S11 in the warehouse location determination method provided in an embodiment of this disclosure.

[0056] This embodiment is a detailed explanation of step S11 in the aforementioned embodiment, further illustrating how to obtain the optimized storage location heading angle based on the storage location information. As shown in Figure 4, it specifically includes the following steps S110 to S111.

[0057] Step S110: Determine the reference line based on the storage location information.

[0058] In some embodiments of this disclosure, determining the reference line based on the location information includes: acquiring the position information of the stitching line in the environmental bird's-eye view image; determining whether the first dividing line A intersects with the stitching line based on the position information of the first dividing line A and the position information of the stitching line, and determining whether the second dividing line B intersects with the stitching line based on the position information of the second dividing line B and the position information of the stitching line; if the first dividing line A intersects with the stitching line and the second dividing line B does not intersect with the stitching line, the second dividing line B is used as the reference line; if the first dividing line A does not intersect with the stitching line and the second dividing line B intersects with the stitching line, the first dividing line A is used as the reference line.

[0059] In some embodiments of this disclosure, the intersection of the first dividing line A and the splicing line can be determined by a straddle test. Specifically, let the two endpoints of the first dividing line A be A1 and A2, and the two endpoints of the splicing line be D1 and D2. If the first dividing line A intersects the splicing line, it means that the first dividing line A and the splicing line straddle each other, that is, the two endpoints A1 and A2 of the first dividing line A are on opposite sides of the splicing line, and the two endpoints D1 and D2 of the splicing line are on opposite sides of the first dividing line A. If the two endpoints A1 and A2 of the first dividing line A are on opposite sides of the splicing line, then the vector... sum vector The cross product has opposite signs, and at the same time, the vectors sum vector The cross product of vectors also has opposite signs. Therefore, if vectors sum vector The cross product has opposite signs, and the vectors sum vector The cross product also has opposite signs. At this point, the first dividing line A intersects with the splicing line.

[0060] It should be noted that, similarly, the method for determining whether the second dividing line B intersects with the splicing line can be found in the above content. To avoid repetition, it will not be repeated here.

[0061] In other embodiments, a rapid repulsion test can be used to determine whether the first dividing line A and the splicing line do not intersect. Specifically, let the coordinates of the endpoint A1 of the first dividing line A be (x... A1 ,y A1 The coordinates of A2 are (x, y). A2 ,y A2 The coordinates of endpoint D1 of the splicing line are (x... D1 ,y D1 The coordinates of D2 are (x) D2 ,y D2 If the first dividing line A and the splicing line do not satisfy either the first condition or the second condition below, then the first dividing line A and the splicing line do not intersect.

[0062] First condition: min(x) A1 x A2 )≤max(x D1 x D2 ), and min(x) D1 x D2 )≤max(x A1 x A2 ).

[0063] Second condition: min(y) A1 y A2 )≤max(y D1 y D2 ), and min(y D1 y D2 )≤max(y A1 y A2 ).

[0064] It should be noted that, similarly, the method for determining whether the second dividing line B and the splicing line do not intersect can be found in the above content. To avoid repetition, it will not be repeated here.

[0065] In some embodiments of this disclosure, the storage location information also includes the coordinates of the first entry point a of the storage location, the coordinates of the second entry point b of the storage location, and the coordinates of the surround-view camera 20. Determining the reference line based on the storage location information further includes: if both the first dividing line A and the second dividing line B intersect the splicing line, calculating a first distance between the first entry point a and the surround-view camera 20 based on the coordinates of the first entry point a and the surround-view camera 20, and calculating a second distance between the second entry point b and the surround-view camera 20 based on the coordinates of the second entry point b and the surround-view camera 20; if the first distance is less than the second distance, the first dividing line A is used as the reference line; if the first distance is greater than or equal to the second distance, the second dividing line B is used as the reference line.

[0066] In some embodiments of this disclosure, the first distance is d. a The second distance is d b ,but:

[0067] In some embodiments of this disclosure, the storage location information also includes the location information of the entrance line C of the storage location. Determining the reference line based on the storage location information further includes: if the first dividing line A, the second dividing line B, and the splicing line do not intersect, determining a first angle α between the first dividing line A and the entrance line C based on the location information of the first dividing line A and the entrance line C, and determining a second angle β between the second dividing line B and the entrance line C based on the location information of the second dividing line B and the entrance line C; if both the first angle α and the second angle β are less than a preset angle threshold, and the first angle α is less than the second angle β, then the first dividing line A is used as the reference line; if both the first angle α and the second angle β are less than the preset angle threshold, and the first angle α is greater than or equal to the second angle β, then the second dividing line B is used as the reference line.

[0068] In some embodiments of this disclosure, the first angle α between the first dividing line A and the entrance line C can be calculated using the dot product formula. Specifically: (1) Define the first dividing line A as a vector. Define the entry line C as a vector. (2) Calculate vectors sum vector dot product (3) Calculate vectors Length of the module sum vector Length of the module (4) Calculate the cosine value of the first included angle α, cos(α), using the vector dot product and the magnitude: (5) Calculate the first included angle α based on the cosine value: α = arcos(cos(α)).

[0069] In some embodiments of this disclosure, the preset angle threshold can be set to 10 degrees.

[0070] In some embodiments of this disclosure, determining the reference line based on the storage location information further includes: if the first included angle α is less than a preset angle threshold and the second included angle β is greater than or equal to the preset angle threshold, the first dividing line A is used as the reference line; if the second included angle β is less than the preset angle threshold and the first included angle α is greater than or equal to the preset angle threshold, the second dividing line B is used as the reference line.

[0071] In some embodiments of this disclosure, determining the reference line based on the storage location information further includes: if the first included angle α and the second included angle β are both greater than or equal to a preset angle threshold, and the first distance is less than the second distance, the first dividing line A is used as the reference line; if the first included angle α and the second included angle β are both greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, the second dividing line B is used as the reference line.

[0072] Step S111: Obtain the optimized storage location heading angle based on the reference line. The optimized storage location heading angle is the angle between the reference line and the entrance line of the storage location.

[0073] In some embodiments of this disclosure, the reference line is an idealized path generated based on the storage location information, which represents the trajectory that vehicle 1 should follow so that vehicle 1 can accurately enter the storage location.

[0074] Figure 5 is a schematic diagram of the specific steps of step S12 in the warehouse location determination method provided in an embodiment of this disclosure.

[0075] This embodiment is a detailed explanation of step S12 in the aforementioned embodiment, further illustrating how to determine the location of the storage location based on the optimized storage location heading angle and storage location information. As shown in Figure 5, it specifically includes the following steps S120 to S122.

[0076] Step S120: Calculate the coordinates of the first tail point of the storage location based on the length of the storage location, the coordinates of the first entry point, and the optimized heading angle of the storage location.

[0077] In some embodiments of this disclosure, let the coordinates of the first tail point c be (x3, y3), then: x3 = x2 + Lcos(θ); y3 = y2 + Lsin(θ). Where L is the length of the storage location; θ is the optimized heading angle of the storage location.

[0078] Step S121: Calculate the coordinates of the second tail point of the storage location based on the length of the storage location, the coordinates of the second entry point, and the optimized storage location heading angle.

[0079] In some embodiments of this disclosure, let the coordinates of the first tail point c be (x4, y4), then: x4 = x1 + Lcos(θ); y4 = y1 + Lsin(θ). Where L is the length of the storage location; θ is the optimized heading angle of the storage location.

[0080] It should be noted that when the storage location type is a vertical or inclined storage location, the entrance line C of the storage location is the shorter side, and the length of the storage location is the length of the two longer sides, for example, 5.4 meters. When the storage location type is a horizontal storage location, the entrance of the horizontal storage location is the longer side, and the length of the storage location is the length of the two shorter sides, for example, 2.5 meters.

[0081] Step S122: Determine the location of the storage location based on the coordinates of the first entry point, the second entry point, the first tail point, and the second tail point.

[0082] In some embodiments of this disclosure, once the coordinates of the first entry point a, the second entry point b, the first tail point c, and the second tail point d of the storage location are obtained, the location of the storage location can be accurately determined.

[0083] Figures 6A and 6B are schematic diagrams illustrating the application of a warehouse location determination method provided in an embodiment of this disclosure in an environment with uneven road surfaces.

[0084] In some embodiments of this disclosure, in environments with uneven road surfaces, such as sloping scenarios, due to the inherent disadvantage of the stitching algorithm in sloping scenarios, as shown in Figure 6A, the vertical storage location indicated by the arrow has been distorted into a trapezoidal storage location. In this case, using the dividing line with the highest confidence detected by the traditional storage location detection method as the reference line, the phenomenon of storage location overlap shown in Figure 6A will be observed. As shown in Figure 6B, after optimization based on the storage location determination method of this disclosure, the problem of storage location overlap has been eliminated.

[0085] Figures 7A and 7B are schematic diagrams illustrating the application of the warehouse location determination method provided in an embodiment of this disclosure in a scenario where the surround-view camera 20 is shaking.

[0086] In some embodiments of this disclosure, in normal flat terrain, significant errors occur in rear-view stitching due to camera shake and other factors. As shown in Figure 7A, the dividing line of the vertical parking space indicated by the arrow shows a clear misalignment in the left and rear views. In this case, using the traditional parking space detection method, selecting the dividing line closer to the rear-view camera as the reference line will cause the actually detected parking space coordinates to shift to the left, resulting in vehicle 1 parking to the left. As shown in Figure 7B, the problem of vehicle 1 parking to the left has been eliminated after optimization based on the parking space determination method of this disclosure.

[0087] Figure 8 is a schematic diagram of the functional modules of a warehouse location determination device 100 provided in an embodiment of this disclosure.

[0088] In this embodiment, based on the same concept as the warehouse location determination method in the embodiment shown in FIG2 above, this disclosure also provides a warehouse location determination device 100, which can be used to execute the above warehouse location determination method. For ease of explanation, the schematic diagram of the composition of the warehouse location determination device 100 embodiment only shows the parts related to the embodiments of this disclosure. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the warehouse location determination device 100, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0089] In some embodiments of this disclosure, as shown in FIG8, the storage location determination device 100 provided in the embodiments of this disclosure includes an acquisition module 110, an optimization module 120, and a determination module 130.

[0090] The acquisition module 110 is used to acquire storage location information based on the bird's-eye view image of the environment around vehicle 1 using a preset storage location information detection model.

[0091] In some embodiments of this disclosure, the environmental bird's-eye view image is formed by stitching together multiple environmental images of the surroundings of vehicle 1 acquired by a surround-view camera 20 on vehicle 1. The electronic device 10 is communicatively connected to the surround-view camera 20. The steps for acquiring the environmental bird's-eye view image may include: acquiring multiple environmental images through multiple surround-view cameras 20 around vehicle 1; and stitching the multiple environmental images together to obtain the environmental bird's-eye view image. The surround-view camera 20 may be a fisheye lens.

[0092] Specifically, surround-view cameras 20 with a field of view (FOV) of 180° or more are installed around vehicle 1 at the front, rear, left, and right sides, and the position of each surround-view camera 20 relative to vehicle 1 is pre-calibrated. Each surround-view camera 20 acquires a corresponding environmental image, resulting in four environmental images. Distortion correction is performed on each environmental image. Coordinate mapping is performed on the distortion-corrected environmental images based on the positions of the surround-view cameras 20; the multiple coordinate-mapped environmental images are then stitched together to obtain a corresponding bird's-eye view image of the environment.

[0093] In some embodiments of this disclosure, as shown in Figure 3, the storage location information includes, but is not limited to, storage location type (e.g., vertical storage location, inclined storage location, horizontal storage location), location information of the first dividing line A of the storage location, location information of the second dividing line B of the storage location, coordinates (x1, y1) of the first entrance point a of the storage location, coordinates (x2, y2) of the second entrance point b of the storage location, and coordinates (x1, y1) of the surround-view camera 20. c ,y c Information such as the location of the entrance line C of the storage location and the length L of the storage location.

[0094] In some embodiments of this disclosure, the specific steps for obtaining a preset storage location information detection model may include: acquiring multiple historical environmental bird's-eye view images and marking the required storage location information on the historical environmental bird's-eye view images; constructing a training dataset based on the multiple historical environmental bird's-eye view images marked with storage location information; constructing an initial storage location information detection model (e.g., a YOLOv7 model); and training the initial storage location information detection model according to the training dataset to obtain the preset storage location information detection model.

[0095] The optimization module 120 is used to obtain the optimized warehouse location heading angle based on the warehouse location information.

[0096] In some embodiments of this disclosure, obtaining the optimized warehouse location heading angle based on the warehouse location information specifically includes: determining a reference line based on the warehouse location information; and obtaining the optimized warehouse location heading angle based on the reference line.

[0097] In some embodiments of this disclosure, determining the reference line based on the location information includes: acquiring the position information of the stitching line in the environmental bird's-eye view image; determining whether the first dividing line A intersects with the stitching line based on the position information of the first dividing line A and the position information of the stitching line, and determining whether the second dividing line B intersects with the stitching line based on the position information of the second dividing line B and the position information of the stitching line; if the first dividing line A intersects with the stitching line and the second dividing line B does not intersect with the stitching line, the second dividing line B is used as the reference line; if the first dividing line A does not intersect with the stitching line and the second dividing line B intersects with the stitching line, the first dividing line A is used as the reference line.

[0098] In some embodiments of this disclosure, the intersection of the first dividing line A and the splicing line can be determined by a straddle test. Specifically, let the two endpoints of the first dividing line A be A1 and A2, and the two endpoints of the splicing line be D1 and D2. If the first dividing line A intersects the splicing line, it means that the first dividing line A and the splicing line straddle each other, that is, the two endpoints A1 and A2 of the first dividing line A are on opposite sides of the splicing line, and the two endpoints D1 and D2 of the splicing line are on opposite sides of the first dividing line A. If the two endpoints A1 and A2 of the first dividing line A are on opposite sides of the splicing line, then the vector... sum vector The cross product has opposite signs, and at the same time, the vectors sum vector The cross product of vectors also has opposite signs. Therefore, if vectors sum vector The cross product has opposite signs, and the vectors sum vector The cross product also has opposite signs. At this point, the first dividing line A intersects with the splicing line.

[0099] It should be noted that, similarly, the method for determining whether the second dividing line B intersects with the splicing line can be found in the above content. To avoid repetition, it will not be repeated here.

[0100] In other embodiments, a rapid repulsion test can be used to determine whether the first dividing line A and the splicing line do not intersect. Specifically, let the coordinates of the endpoint A1 of the first dividing line A be (x... A1 ,y A1 The coordinates of A2 are (x, y). A2 ,y A2 The coordinates of endpoint D1 of the splicing line are (x... D1 ,y D1 The coordinates of D2 are (x) D2 ,y D2 If the first dividing line A and the splicing line do not satisfy either the first condition or the second condition below, then the first dividing line A and the splicing line do not intersect.

[0101] First condition: min(x) A1 x A2 )≤max(x D1 x D2 ), and min(x) D1 x D2 )≤max(x A1 x A2 ).

[0102] Second condition: min(y) A1 y A2 )≤max(y D1 y D2 ), and min(y D1 y D2 )≤max(y A1 y A2 ).

[0103] It should be noted that, similarly, the method for determining whether the second dividing line B and the splicing line do not intersect can be found in the above content. To avoid repetition, it will not be repeated here.

[0104] In some embodiments of this disclosure, the storage location information also includes the coordinates of the first entry point a of the storage location, the coordinates of the second entry point b of the storage location, and the coordinates of the surround view camera 20. Determining the reference line based on the storage location information further includes: if both the first dividing line A and the second dividing line B intersect the splicing line, calculating a first distance between the first entry point a and the surround view camera 20 based on the coordinates of the first entry point a and the coordinates of the surround view camera 20, and calculating a second distance between the second entry point b and the surround view camera 20 based on the coordinates of the second entry point b and the coordinates of the surround view camera 20; if the first distance is less than the second distance, the first dividing line A is used as the reference line; if the first distance is greater than or equal to the second distance, the second dividing line B is used as the reference line.

[0105] In some embodiments of this disclosure, the first distance is d. a The second distance is d b ,but:

[0106] In some embodiments of this disclosure, the storage location information also includes the location information of the entrance line C of the storage location. Determining the reference line based on the storage location information further includes: if the first dividing line A, the second dividing line B and the splicing line do not intersect, determining the first angle α between the first dividing line A and the entrance line C based on the location information of the first dividing line A and the entrance line C, and determining the second angle β between the second dividing line B and the entrance line C based on the location information of the second dividing line B and the entrance line C; if both the first angle α and the second angle β are less than a preset angle threshold, and the first angle α is less than the second angle β, the first dividing line A is used as the reference line; if both the first angle α and the second angle β are less than a preset angle threshold, and the first angle α is greater than or equal to the second angle β, the second dividing line B is used as the reference line.

[0107] In some embodiments of this disclosure, the first angle α between the first dividing line A and the entrance line C can be calculated using the dot product formula. Specifically: (1) Define the first dividing line A as a vector. Define the entry line C as a vector. (2) Calculate vectors sum vector dot product (3) Calculate vectors Length of the module sum vector Length of the module (4) Calculate the cosine value of the first included angle α, cos(α), using the vector dot product and the magnitude: (5) Calculate the first included angle α based on the cosine value: α = arcos(cos(α)).

[0108] In some embodiments of this disclosure, the preset angle threshold can be set to 10 degrees.

[0109] In some embodiments of this disclosure, determining the reference line based on the storage location information further includes: if the first included angle α is less than a preset angle threshold and the second included angle β is greater than or equal to the preset angle threshold, the first dividing line A is used as the reference line; if the second included angle β is less than the preset angle threshold and the first included angle α is greater than or equal to the preset angle threshold, the second dividing line B is used as the reference line.

[0110] In some embodiments of this disclosure, determining the reference line based on the storage location information further includes: if the first included angle α and the second included angle β are both greater than or equal to a preset angle threshold, and the first distance is less than the second distance, the first dividing line A is used as the reference line; if the first included angle α and the second included angle β are both greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, the second dividing line B is used as the reference line.

[0111] In some embodiments of this disclosure, the reference line is an idealized path generated based on the storage location information, which represents the trajectory that vehicle 1 should follow so that vehicle 1 can accurately enter the storage location.

[0112] The determination module 130 is used to determine the location of the storage location based on the optimized storage location heading angle and storage location information.

[0113] In some embodiments of this disclosure, determining the location of a storage location based on the optimized storage location heading angle and storage location information specifically includes: calculating the coordinates of the first tail point c of the storage location based on the length of the storage location, the coordinates of the first entry point a, and the optimized storage location heading angle; calculating the coordinates of the second tail point d of the storage location based on the length of the storage location, the coordinates of the second entry point b, and the optimized storage location heading angle; and determining the location of the storage location based on the coordinates of the first entry point a, the second entry point b, the first tail point c, and the second tail point d.

[0114] In some embodiments of this disclosure, let the coordinates of the first tail point c be (x3, y3), then: x3 = x2 + Lcos(θ); y3 = y2 + Lsin(θ). Where L is the length of the storage location; θ is the optimized heading angle of the storage location.

[0115] In some embodiments of this disclosure, let the coordinates of the first tail point c be (x4, y4), then: x4 = x1 + Lcos(θ); y4 = y1 + Lsin(θ). Where L is the length of the storage location; θ is the optimized heading angle of the storage location.

[0116] It should be noted that when the storage location type is a vertical or inclined storage location, the entrance line C of the storage location is the shorter side, and the length of the storage location is the length of the two longer sides, for example, 5.4 meters. When the storage location type is a horizontal storage location, the entrance of the horizontal storage location is the longer side, and the length of the storage location is the length of the two shorter sides, for example, 2.5 meters.

[0117] In some embodiments of this disclosure, once the coordinates of the first entry point a, the second entry point b, the first tail point c, and the second tail point d of the storage location are obtained, the location of the storage location can be accurately determined.

[0118] In the above-described embodiment of the parking space determination device 100, the parking space information can be accurately extracted by analyzing the environmental bird's-eye view image through a preset parking space information detection model. The preset heading angle optimization algorithm can dynamically adapt to these environmental changes and uncertainties by analyzing various factors in the parking space information, thereby obtaining a more accurate parking space heading angle, which can ensure that the subsequent vehicle 1 enters the parking space at the correct angle. The parking space information provides the parking space's own shape, size, and other attributes, and the optimized parking space heading angle clarifies the direction of the parking space. The combination of the two can achieve precise spatial positioning of the parking space, facilitating accurate subsequent operations on the parking space, such as accurately parking the vehicle 1 in the parking space. Based on this, the parking space determination device 100 of this disclosure can comprehensively and accurately determine the location of the parking space, improve the success rate of automatic parking, and reduce the collision risk of the vehicle 1 during the automatic parking process.

[0119] Referring to Figure 1, in some embodiments of this disclosure, the electronic device 10 includes, but is not limited to, a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as a warehouse location determination program, which, when executed by the processor, implements the warehouse location determination method as described in the above embodiments.

[0120] Figure 1 only shows an electronic device 10 with a memory 11 and a processor 12. Those skilled in the art will understand that the structure shown in Figure 1 does not constitute a limitation on the electronic device 10, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0121] The memory 11 in the electronic device 10 stores multiple computer-readable instructions to implement a warehouse location determination method. The processor 12 can execute multiple instructions to achieve: obtaining warehouse location information based on a bird's-eye view image of the environment around the vehicle 1 using a preset warehouse location information detection model; obtaining an optimized warehouse location heading angle based on the warehouse location information; and determining the location of the warehouse location according to the optimized warehouse location heading angle and the warehouse location information.

[0122] In some embodiments of this disclosure, the specific implementation method of the processor 12 of the above instructions can be referred to the description of the relevant steps in the embodiment corresponding to FIG2, which will not be repeated here.

[0123] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 10 and does not constitute a limitation on the electronic device 10. The electronic device 10 can be a bus topology or a star topology. The electronic device 10 may also include more or fewer other hardware or software than shown in the diagram, or different component arrangements. For example, the electronic device 10 may also include input / output devices, network access devices, etc.

[0124] It should be noted that electronic device 10 is only an example. Other existing or future electronic products that are applicable to this disclosure should also be included within the scope of protection of this disclosure and are incorporated herein by reference.

[0125] The memory 11 includes at least one type of computer-readable storage medium, which can be non-volatile or volatile. Computer-readable storage media include flash memory, portable hard drives, multimedia cards, card-type memories (e.g., SD memory, DX memory, etc.), magnetic memory, magnetic disks, optical disks, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 10, such as the portable hard drive of the electronic device 10. In other embodiments, the memory 11 can also be an external storage device of the electronic device 10, such as a plug-in portable hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 10. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 10, such as the code of a library location determination program, but also to temporarily store data that has been output or will be output.

[0126] In some embodiments, the processor 12 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 12 is the control unit of the electronic device 10, connecting various components of the electronic device 10 via various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., executing a library location determination program) and calls data stored in the memory 11 to perform various functions and process data for the electronic device 10.

[0127] The processor 12 executes the operating system of the electronic device 10 and various installed applications. The processor 12 executes the applications to implement the steps in each of the above-described embodiments of the library location determination method, such as the steps shown in FIG2.

[0128] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 11 and executed by processor 12 to perform the present disclosure. One or more modules / units may be a series of computer-readable instruction segments capable of performing a specific function, which describe the execution process of the computer program in electronic device 10. For example, the computer program may be divided into an acquisition module 110, an optimization module 120, and a determination module 130.

[0129] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause a computer device (which may be a personal computer, computer equipment, or network device, etc.) or processor to execute a portion of a library location determination method according to various embodiments of this disclosure.

[0130] If the modules / units integrated in the electronic device 10 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware devices. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above.

[0131] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory, and other types of memory.

[0132] Furthermore, the computer-readable storage medium may primarily include a stored program area and a stored data area, wherein the stored program area may store the operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of blockchain nodes, etc.

[0133] The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one arrow is used in Figure 1, but this does not mean that there is only one bus or one type of bus. The bus is configured to implement communication between memory 11 and at least one processor 12, etc.

[0134] This disclosure also provides a computer-readable storage medium (not shown) storing computer-readable instructions, which are executed by a processor in an electronic device 10 to implement a warehouse location determination method of any of the above embodiments.

[0135] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0136] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0137] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0138] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices described in the specification may also be implemented by a single unit or device through software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this disclosure without departing from the spirit and scope of the technical solutions of this disclosure.

Claims

1. A method for determining warehouse location, comprising: The storage location information is obtained based on a bird's-eye view image of the environment surrounding the vehicle using a pre-set storage location information detection model. Based on the storage location information, the optimized storage location heading angle is obtained; as well as The location of the storage location is determined based on the optimized storage location heading angle and the storage location information.

2. The method for determining storage location as described in claim 1, characterized in that, The process of obtaining the optimized storage location heading angle based on the storage location information includes: Determine the reference line based on the storage location information; and The optimized storage location heading angle is obtained based on the reference line, wherein the optimized storage location heading angle is the angle between the reference line and the entrance line of the storage location.

3. The method for determining storage location as described in claim 2, characterized in that, The environmental bird's-eye view image is formed by stitching together multiple environmental images of the vehicle's surroundings captured by the vehicle's surround-view camera. The storage location information includes the position information of the first dividing line and the position information of the second dividing line of the storage location. The step of determining the reference line based on the storage location information includes: Obtain the position information of the stitching lines in the environmental bird's-eye view image; Based on the position information of the first dividing line and the position information of the splicing line, determine whether the first dividing line and the splicing line intersect; and based on the position information of the second dividing line and the position information of the splicing line, determine whether the second dividing line and the splicing line intersect. If the first dividing line intersects the splicing line, and the second dividing line does not intersect the splicing line, the second dividing line is used as the reference line; and If the first dividing line does not intersect with the splicing line, and the second dividing line intersects with the splicing line, the first dividing line is used as the reference line.

4. The method for determining the storage location as described in claim 3, characterized in that, The storage location information also includes the coordinates of the first entrance point of the storage location, the coordinates of the second entrance point of the storage location, and the coordinates of the surround-view camera. The step of determining the reference line based on the storage location information further includes: If both the first dividing line and the second dividing line intersect with the splicing line, calculate the first distance between the first entry point and the surround view camera based on the coordinates of the first entry point and the coordinates of the surround view camera, and calculate the second distance between the second entry point and the surround view camera based on the coordinates of the second entry point and the coordinates of the surround view camera. If the first distance is less than the second distance, the first dividing line is used as the reference line; and If the first distance is greater than or equal to the second distance, the second dividing line is used as the reference line.

5. The method for determining storage location as described in claim 4, characterized in that, The storage location information also includes the location information of the entrance line of the storage location. The step of determining the reference line based on the storage location information further includes: If the first dividing line, the second dividing line and the splicing line do not intersect, the first angle between the first dividing line and the entrance line is determined according to the position information of the first dividing line and the position information of the entrance line, and the second angle between the second dividing line and the entrance line is determined according to the position information of the second dividing line and the position information of the entrance line. If both the first included angle and the second included angle are less than a preset angle threshold, and the first included angle is less than the second included angle, then the first dividing line is used as the reference line; and If both the first included angle and the second included angle are less than the preset angle threshold, and the first included angle is greater than or equal to the second included angle, the second dividing line is used as the reference line.

6. The method for determining the storage location as described in claim 5, characterized in that, Determining the reference line based on the storage location information further includes: If the first included angle is less than the preset angle threshold, and the second included angle is greater than or equal to the preset angle threshold, the first dividing line is used as the reference line; and If the second included angle is less than the preset angle threshold, and the first included angle is greater than or equal to the preset angle threshold, the second dividing line is used as the reference line.

7. The method for determining storage location as described in claim 5, characterized in that, Determining the reference line based on the storage location information further includes: If both the first included angle and the second included angle are greater than or equal to the preset angle threshold, and the first distance is less than the second distance, the first dividing line is used as the reference line; and If both the first included angle and the second included angle are greater than or equal to the preset angle threshold, and the first distance is greater than or equal to the second distance, the second dividing line is used as the reference line.

8. The method for determining storage location as described in claim 1, characterized in that, The storage location information includes the coordinates of the first entrance point of the storage location, the coordinates of the second entrance point of the storage location, and the length of the storage location. The step of determining the location of the storage location based on the optimized storage location heading angle and the storage location information includes: The coordinates of the first tail point of the storage location are calculated based on the length of the storage location, the coordinates of the first entry point, and the optimized storage location heading angle. The coordinates of the second tail point of the storage location are calculated based on the length of the storage location, the coordinates of the second entry point, and the optimized storage location heading angle; and The location of the storage location is determined based on the coordinates of the first entry point, the second entry point, the first tail point, and the second tail point.

9. The method for determining storage location as described in claim 1, characterized in that, The preset storage location information detection model is obtained through the following methods: Acquire multiple historical environmental bird's-eye view images, and mark the storage location information on the multiple historical environmental bird's-eye view images; A training dataset is constructed based on the multiple historical environmental bird's-eye view images labeled with the aforementioned location information; Construct an initial storage location information detection model; and The initial storage location information detection model is trained based on the training dataset to obtain the preset storage location information detection model.

10. A storage location determination device, comprising: The acquisition module is used to acquire storage location information based on a bird's-eye view image of the environment around the vehicle using a preset storage location information detection model; The optimization module is used to obtain the optimized storage location heading angle based on the storage location information; The determination module is used to determine the location of the storage location based on the optimized storage location heading angle and the storage location information.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the warehouse location determination method as described in any one of claims 1 to 9.

12. A vehicle comprising the electronic equipment as claimed in claim 11.

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