CN113460039B - Parking control method, vehicle and storage medium - Google Patents

Parking control method, vehicle and storage medium Download PDF

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Publication number
CN113460039B
CN113460039B CN202110833690.9A CN202110833690A CN113460039B CN 113460039 B CN113460039 B CN 113460039B CN 202110833690 A CN202110833690 A CN 202110833690A CN 113460039 B CN113460039 B CN 113460039B
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driving
vehicle
point
travelable
information
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CN113460039A (en
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邓婉云
李纯灵
林智桂
罗覃月
廖尉华
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SAIC GM Wuling Automobile Co Ltd
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SAIC GM Wuling Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking

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  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a parking control method, a vehicle and a storage medium, wherein the method comprises the following steps: receiving a parking instruction, and acquiring environmental information in a first preset range around a vehicle; determining at least one vehicle travelable direction according to the environment information, and recording and determining the vehicle position of the travelable direction as a travelable point; selecting one of the at least one drivable direction as a current drivable direction according to a preset sequence; driving along the current driving direction, setting the current driving direction as a driven direction corresponding to the drivable point, and searching for an empty parking space in a second preset range around the vehicle in the driving process; if the empty parking space exists in the second preset range, parking according to the position information of the empty parking space; and if no empty parking space exists in the second preset range, returning to the driving point. The invention improves the accuracy in the parking process and improves the parking experience of the car owner.

Description

Parking control method, vehicle and storage medium
Technical Field
The present invention relates to the field of vehicle control, and in particular, to a parking control method, a vehicle, and a storage medium.
Background
With the development of road traffic, the current problem of parking is very outstanding, and in a more complicated parking lot terrain, a lot of car owners cannot find a proper parking space, so that the parking becomes a very time-consuming thing. When the parking space is generally positioned in the parking process, the wireless sensor needs to be deployed in advance, and channel modeling is carried out to a certain degree. However, the methods not only increase the cost of automatic parking, but also have no generality, and scenes with visual distances and scenes with non-visual distances cannot be accurately distinguished under a complex indoor environment, so that position information cannot be accurately calculated, and the deviation is large.
Disclosure of Invention
The invention mainly aims to provide a parking control method, a vehicle and a computer readable storage medium, and aims to solve the problem that the existing parking method cannot accurately calculate position information.
In order to achieve the above object, the present invention provides a parking control method, including the steps of:
receiving a parking instruction, and acquiring environmental information in a first preset range around a vehicle;
determining at least one vehicle travelable direction according to the environment information, and recording and determining the vehicle position of the travelable direction as a travelable point;
selecting one of the at least one drivable direction as a current drivable direction according to a preset sequence;
driving along the current driving direction, setting the current driving direction as a driven direction corresponding to the drivable point, and searching for an empty parking space in a second preset range around the vehicle in the driving process;
if the empty parking space exists in the second preset range, parking according to the position information of the empty parking space;
if no empty parking space exists in the second preset range, returning to the travelable point, updating the current traveling direction to be a travelable direction which is selected according to a preset sequence and is not the traveled direction corresponding to the travelable point, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
Optionally, the environment information includes first picture information, and the first picture information includes image information in a first preset range around the vehicle; the step of determining at least one travelable direction of the vehicle according to the environment information and recording the vehicle position at which the travelable direction is determined as a travelable point comprises:
judging whether the first picture information contains an indication direction image or not;
if the first picture information contains an indication direction image, judging whether an obstacle exists in an indication direction corresponding to the indication direction image;
if an obstacle exists in the indication direction corresponding to the indication direction image, acquiring information of the obstacle according to the first picture information and determining whether the indication direction can be driven or not;
and if the indicated direction can be driven, recording the current position of the vehicle as a drivable point and storing the drivable point.
Optionally, the step of determining whether the first picture information includes an image indicating a direction includes:
and if the first picture information does not contain the image indicating the direction, determining whether the current position of the vehicle is a driving point or not according to the first picture information and a preset identification direction.
Optionally, if the first picture information does not include an image indicating a direction, the step of determining whether the current position of the vehicle is a driving-possible point according to the environment information and a preset identification direction includes:
sequentially identifying whether the driving directions exist in the front, the right and the left of the current position of the vehicle according to the preset identification direction;
if yes, judging whether the drivable direction has an obstacle or not according to the drivable direction and the environmental information;
if no obstacle exists, determining the direction as the driving direction, storing the recognized driving direction and the current position of the vehicle as the driving point according to the sequence of the preset recognized direction, and executing: and the step of driving along the driving direction and searching for the empty parking space within a second preset range in the driving process.
Optionally, the travelable point includes travel direction information stored at the travelable point and position information of the travelable point; the step of sequentially identifying whether the driving directions exist at the front, the right and the left of the current position of the vehicle according to the preset identification direction comprises the following steps:
if the driving directions do not exist in the front, the right and the left of the current position of the vehicle, judging whether a previous driving point is stored, wherein the previous driving point is other driving points stored after the vehicle receives the parking instruction;
if the previous travelable point is stored, returning the previous travelable point according to the position information and the traveling direction information of the previous travelable point, updating the current traveling direction to be a travelable direction which is selected according to a preset sequence and is not the traveled direction corresponding to the previous travelable point, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
Optionally, the travelable point stores a first return travel path from the last travelable point to the current position of the vehicle; if the previous travelable point is stored, the step of returning the previous travelable point according to the position information and the traveling direction information of the previous travelable point comprises the following steps:
if the previous travelable point exists, acquiring real-time second picture information of the first return travel path, and judging whether the first return travel path has an obstacle or not according to the second picture information;
if not, driving to the previous travelable point according to the first return travel path, selecting one travelable direction except the traveled travel direction from the previous travelable point, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
Optionally, if there is a previous travelable point, acquiring real-time second picture information of the first return travel path, and determining whether there is an obstacle in the first return travel path according to the second picture information includes:
if the obstacle exists, acquiring information of the obstacle according to the second picture information, and generating a second return driving path according to the information of the obstacle and the position information of the previous driving point;
and driving to the last driving point according to the second return driving path, and executing: and driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for an empty parking space in a second preset range around the vehicle in the driving process.
Optionally, the step of driving along the current driving direction, and setting the current driving direction as a driven direction corresponding to the drivable point, and searching for an empty space in a second preset range around the vehicle during driving includes:
driving along the current driving direction, setting the current driving direction as a driving direction corresponding to the drivable point, and acquiring parking space information of all parking spaces within a second preset range, wherein the parking space information comprises parking space line information, parking space area information and parking space obstacle information of the parking spaces;
if the parking space has the parking space line, judging whether the parking space is an empty parking space according to the parking space line information and the parking space area information;
and if the parking space does not have the parking space line, judging whether the parking space is an empty parking space according to the parking space area information and the parking space obstacle information.
To achieve the above object, the present invention also provides a vehicle including a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the parking control method as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the parking control method as described above.
According to the parking control method, the vehicle and the computer readable storage medium, the parking instruction is received, the environment information in a first preset range around the vehicle is obtained, at least one vehicle travelable direction is determined according to the environment information, the vehicle position determining the travelable direction is recorded as a travelable point, the automatic acquisition of the vehicle traveling direction is realized through the environment information, and the selection of the vehicle direction is more intelligent and simple; the method comprises the steps of selecting one of at least one driving direction according to a preset sequence as the current driving direction, driving along the current driving direction, setting the current driving direction as the driven direction corresponding to the driving direction, searching empty parking spaces in a second preset range around a vehicle in the driving process, collecting the empty parking spaces around the vehicle in the driving process, and setting a driving place as the driving point, so that the vehicle can return to the driving place according to the stored driving point when the empty parking spaces are not searched, the automatic parking of the vehicle is more comprehensive and intelligent, meanwhile, the position calculation in the parking process is more accurate, the method is suitable for complex terrains, and the parking is more convenient.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a parking control method according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a parking control method according to a second embodiment of the present invention;
fig. 4 is a flowchart illustrating a parking control method according to a third embodiment of the present invention;
fig. 5 is a flowchart illustrating a parking control method according to a fourth embodiment of the present invention;
fig. 6 is a flowchart illustrating a fifth embodiment of the parking control method of the present invention;
fig. 7 is a flowchart illustrating a parking control method according to a sixth embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a vehicle according to various embodiments of the present invention. The vehicle comprises a communication module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the vehicle shown in FIG. 1 may also include more or fewer components than shown, or some components may be combined, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, and the memory 02 stores a computer program, which is executed by the processor 03 at the same time.
The communication module 01 may be connected to an external device through a network. The communication module 01 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data or information created according to the use of the vehicle, or the like. In addition, the memory 02 may include a high-speed access memory according to a preset sequence, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage device.
The processor 03, which is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, and performs various functions of the vehicle and processes data by operating or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, thereby integrally monitoring the vehicle. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 03.
Those skilled in the art will appreciate that the vehicle configuration shown in FIG. 1 does not constitute a limitation of the vehicle, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
Various embodiments of the method of the present invention are presented in terms of the above-described hardware architecture.
Referring to fig. 2, in a first embodiment of the parking control method of the invention, the parking control method includes the steps of:
step S10, receiving a parking instruction, and acquiring environmental information in a first preset range around the vehicle;
step S20, determining at least one vehicle travelable direction according to the environment information, and recording the vehicle position determining the travelable direction as a travelable point;
step S30, selecting one of the at least one driving direction as the current driving direction according to a preset sequence;
in this embodiment, a parking instruction sent by a user is received, where the parking instruction may be sent by a handheld terminal device, such as a mobile phone, a tablet computer, a smart watch, and the like, when the user leaves the vehicle, or may be sent by an onboard device or a parking button inside the vehicle when the user is inside the vehicle. The method comprises the steps that environmental information in a first preset range around a vehicle can be obtained, wherein the first preset range specifically takes the vehicle as a center and has a radius within 50 meters, and can also be within 60 meters, 70 meters, 80 meters or 100 meters around the vehicle, and technicians in the field can set the first preset ranges with different sizes according to requirements so that the parking process of the vehicle can be realized; the environment information includes image information within a first preset range, and specifically includes image information such as obstacles, road signs or indicator lights within the first preset range.
The travelable direction is determined based on the image information, for example, if the image information includes a mark having an indication direction such as a road sign, the direction is determined as a travelable direction based on the mark, and the vehicle position at which the travelable direction is determined is a travelable point, and specifically, the travelable point can be stored in a stack in the vehicle storage area. The preset sequence is the front, the right and the left of the current position of the vehicle, the direction right to the head of the vehicle is the front of the vehicle, the right is the right, and the left is the left.
Step S40, driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving possible point, and searching for empty parking spaces in a second preset range around the vehicle in the driving process;
step S50, if the empty parking space exists in the second preset range, parking according to the position information of the empty parking space;
in this embodiment, the second preset range is a range within 50 meters, 60 meters, 70 meters, or 80 meters around the vehicle, and those skilled in the art can set second preset ranges of different sizes according to actual requirements to collect surrounding empty parking spaces, where the position information of the empty parking spaces includes specific positions of the empty parking spaces;
the current driving direction is set to be the driving direction corresponding to the driving point, so that the driving direction in the driving point can be filtered conveniently when the vehicle returns according to the driving point, and the time consumed in the parking process is reduced; and the automatic parking of the vehicle is realized by searching the empty parking space in the second preset range.
Step S60, if there is no empty space in the second preset range, returning to the travelable point, and updating the current travel direction to be a travelable direction that is not the traveled direction and is selected according to a preset sequence, and executing: step S40;
in this embodiment, when there is no empty parking space within the second preset range, the previous driving point stored in the stack may be selected to be returned, and the empty parking space may be continuously searched according to the other driving directions that are determined by the previous driving point and are not the driving direction of the current driving, so as to search the empty parking spaces in all directions around the vehicle, ensure that the parking spaces are not missed, and improve the accuracy in the parking process.
According to the parking control method, the vehicle and the computer readable storage medium, the parking instruction is received, the environment information in the first preset range around the vehicle is obtained, at least one vehicle travelable direction is determined according to the environment information, the vehicle position determining the travelable direction is recorded as a travelable point, the environment information comprises image information including the image information in the first preset range around the vehicle, specifically a pattern including an indication direction, and the automatic obtaining of the vehicle traveling direction is realized by obtaining the pattern including the indication direction, so that the selection of the vehicle direction is more intelligent and simple; the method comprises the steps of selecting one of at least one driving direction according to a preset sequence as the current driving direction, driving along the current driving direction, setting the current driving direction as the driven direction corresponding to the driving direction, searching empty parking spaces in a second preset range around a vehicle in the driving process, collecting the empty parking spaces around the vehicle in the driving process, and setting a driving place as the driving point, so that the vehicle can return to the driving place according to the stored driving point when the empty parking spaces are not searched, the automatic parking of the vehicle is more comprehensive and intelligent, meanwhile, the position calculation in the parking process is more accurate, the method is suitable for complex terrains, and the parking is more convenient.
Further, referring to fig. 3, in the parking control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes the second embodiment, and the step S20 includes:
step S21, determining whether the first picture information includes an image indicating a direction;
in this embodiment, the first picture information includes image information in a first preset range around the vehicle, and the direction indicating image is specifically a picture with a direction indicating function, such as a road sign or an indicator light, and is specifically obtained by identifying a returned picture through a depth learning algorithm according to the first picture information returned by the camera; the camera is look around camera and forward-looking camera, look around the camera and install preceding covering, back-skin, left outside rear-view mirror, the right outside rear-view mirror at vehicle automobile body for gather picture information and video information around the vehicle, the assembly of forward-looking camera is on preceding windshield for gather vehicle place ahead video information and picture information.
Step S22, if the first picture information includes an indication direction image, determining whether an obstacle exists in an indication direction corresponding to the indication direction image;
in this embodiment, when the acquired first picture information includes the image indicating the direction, whether an obstacle exists on the path indicating the direction is acquired again according to the first picture information, and the obstacle may be a vehicle, a pedestrian, an animal, or other objects traveling in the traveling direction.
In addition, if the first picture information contains a plurality of indication direction images, whether an obstacle exists in an indication direction corresponding to the indication direction images or not is judged preferentially according to a preset identification direction, and whether an obstacle exists in a direction not containing the indication direction images or not is judged according to the preset identification direction. For example, if the first picture information includes the indication directions of the front and the left, the determination sequence is: front, left and right; if the first picture information only includes the indication direction of the left side, the order of judgment according to the preset identification direction and the indication direction is as follows: left, front and right.
Step S23, if there is an obstacle in the indication direction corresponding to the indication direction image, obtaining information of the obstacle according to the first picture information and determining whether the indication direction can be driven;
in this embodiment, whether the indication direction can pass or not can be determined by determining the shape and size of the obstacle, specifically, whether the shape and size of the obstacle affects the vehicle running or not is determined, if the obstacle can run, the vehicle can run is determined, and if the shape and size of the obstacle damages the running vehicle, the vehicle cannot run is determined; or whether the indicated direction can be driven or not can be judged by judging whether the barrier moves or not, specifically, the position information of the barrier is acquired at intervals, if the position information of the barrier changes, a preset time length is waited until the barrier leaves a driving road corresponding to the indicated direction, and the driving direction is judged to be driven; if the barrier cannot move, judging that the indicated direction cannot be driven; whether the indicated direction can be driven or not can be judged by combining the scheme for judging the shape and the size of the obstacle and the scheme for judging whether the obstacle can move or not; the position, shape, size and the like of the barrier can be acquired by ultrasonic radars which are arranged on a front skin, a rear skin, a left fender panel, a right fender panel, a left rear side wall decorative panel and a right rear side wall decorative panel of a vehicle body.
Step S24, if the indicated direction can be driven, recording the current position of the vehicle as a drivable point and storing the position;
if the indicated direction cannot be driven, sending a request command to the terminal equipment so as to enable a driver to operate;
in this embodiment, after it is determined that the indicated direction is capable of traveling, the current position of the vehicle may be recorded as a travelable point and the travelable point may be stored in a stack of a vehicle storage area and the indicated direction may be stored in an array, the traveling directions being recorded with numbers 1, 2 and 3, respectively, 1 being straight along the current direction, 2 being a right turn and 3 being a left turn, e.g., when the traveling direction is detected to be the right of the current vehicle, the current position of the vehicle may be stored in the stack 1 and a number 2 representing a right turn may be stored in the array; or detecting that the driving direction is the current straight driving of the vehicle, storing the current position of the vehicle into a stack 1 and storing a number 1 representing the straight driving into an array;
and if the indication direction is determined not to be capable of driving, sending a command requesting a user to operate to the user terminal equipment through a CAN bus built in the vehicle, wherein the request command is a command requesting the user to operate.
In the invention, the preliminary judgment of the travelable direction is realized by judging whether the first picture information contains the indication direction image, and the accurate judgment of the travelable direction is realized by judging whether the indication direction corresponding to the indication direction image has the obstacle, so that the vehicle is more convenient and simpler in the parking process, and the safety in the parking process is ensured; the current position of the vehicle is recorded as a driving point and stored, so that the driving direction of the vehicle does not need to be judged again in the returning process, the vehicle time is saved, the vehicle can find an empty parking space more quickly, and the vehicle can be parked; under the condition that the vehicle cannot run in the indicated direction, the request command is sent to the terminal equipment so that the driver can operate the terminal equipment, and safety in the parking process is fully guaranteed.
Further, referring to fig. 4, in the parking control method according to the present invention as set forth in the first embodiment of the present invention, the present invention provides a third embodiment, and after step S21, the method further includes:
and if the first picture information does not contain the image indicating the direction, determining whether the current position of the vehicle is a driving point or not according to the first picture information and a preset identification direction.
The following steps: if the first picture information does not contain the image indicating the direction, the step of determining whether the current position of the vehicle is a driving point or not according to the first picture information and the preset identification direction further comprises the following steps:
step S22, sequentially identifying whether the direction of travelable exists in the front, right and left of the current position of the vehicle according to the preset identification direction;
in this embodiment, the preset identification direction specifically includes: the front side of the current position of the vehicle is the direction faced by the head of the vehicle, the right side of the current position of the vehicle is the direction on the right side of the head of the vehicle, and the left side of the current position of the vehicle is the direction on the left side of the vehicle; specifically, when the drivable direction is identified according to the preset identification direction, firstly, whether the front of the current position of the vehicle is the direction which can be used or not is identified, if the front of the vehicle is the direction which can not be used, then, whether the right of the current position of the vehicle is the direction which can be used or not is identified, and if the right of the current position of the vehicle is the direction which can not be used, whether the left of the current position of the vehicle is the direction which can be used or not is identified finally; of course, the preset recognition directions may also be the front, the left, and the right of the vehicle position or the left, the front, and the right of the vehicle position, and those skilled in the art may set different sequences of the preset recognition directions according to actual requirements to realize the determination of the travelable direction.
Step S23, if yes, judging whether the travelable direction has an obstacle according to the travelable direction and the environment information;
in this embodiment, the method for identifying the obstacle is as described in the above embodiments, and is not described herein again.
Step S24, if there is no obstacle, determining that the travelable direction is the travel direction, and storing the identified travel direction and the current position of the vehicle as a travelable point according to the sequence of the preset identified directions, and executing: step S40;
and storing the identified driving direction and the current position of the vehicle as the driving available point, specifically, storing the driving available point into a stack of a vehicle storage area, and storing the indication direction into an array, and recording the driving direction by using numbers 1, 2 and 3 respectively, wherein 1 is straight running along the current direction, 2 is right turning, and 3 is left turning.
According to the invention, whether the direction of the vehicle capable of driving exists in the front, the right and the left of the current position of the vehicle is sequentially identified according to the preset identification direction, so that the condition that the driving direction cannot be confirmed when no indication marks such as a sign and the like exist in a parking place is avoided, and the parking is more intelligent; whether the barrier exists in the drivable direction is judged according to the drivable direction and the environment information, so that the further confirmation of the drivable direction is realized, and the safety of the drivable direction is ensured; if no obstacle exists, the travelable direction is determined as the traveling direction according to the sequence of the preset identification direction, the identified traveling direction is stored, and the current position of the vehicle is stored as a travelable point, so that the traveling direction does not need to be judged again in the returning process of the vehicle, the vehicle time is saved, the vehicle can find an empty parking space more quickly, and the vehicle is parked.
In another embodiment, the method further comprises: if the obstacle exists, acquiring information of the obstacle according to the first picture information and determining whether the travelable direction can be traveled;
if the travelable direction can be traveled, recording the current position of the vehicle as a travelable point and storing;
and if the travelable direction cannot be traveled, sending a request command to the terminal equipment so as to enable the driver to operate.
In the embodiment, under the condition that the obstacle exists, whether the travelable direction is travelable can be judged by judging whether the obstacle affects the traveling of the vehicle, so that the problem that the time consumed for parking is increased because the vehicle judges whether other directions are feasible directions again is solved, and the parking safety is ensured.
Further, referring to fig. 5, in the parking control method according to the present invention as set forth in the first embodiment of the present invention, the present invention provides a fourth embodiment, and after step S22, the method further includes:
step S221 of, if there is no driving direction in front of, to the right of, and to the left of the current position of the vehicle, determining whether a previous drivable point is stored, where the previous drivable point is another drivable point stored after the vehicle receives the parking instruction;
step S222, if the previous travelable point is stored, returning the previous travelable point according to the position information and the traveling direction information of the previous travelable point, updating the current traveling direction to be a travelable direction that is not the traveled direction and corresponds to the previous travelable point selected according to a preset sequence, and executing: step S40;
if the last driving point does not exist, a request is sent to enable the driver to operate.
In this embodiment, if other travelable points are stored in the parking process of the vehicle, when the vehicle is at the current position, the last stored travelable point is the last travelable point, for example, the vehicle has 3 feasible points in the parking process, which are feasible point 1, feasible point 2 and travelable point 3 in sequence according to the storage time, and when the vehicle has traveled to other positions after storing the feasible point 3, the feasible point 3 is the last travelable point; when the vehicle is at the travelable point 3, the travelable point 2 is the last travelable point; when the vehicle is at the travelable point 2, the travelable point 1 is the last travelable point; when the vehicle is at travelable point 1, there is no previous travelable point.
In addition, a historical travelable point table may be generated by using other travelable points stored after the vehicle receives the parking instruction according to a time sequence, and if the previous travelable point does not store any other travelable direction except the already-traveled direction, it may be determined whether the previous travelable point is stored with respect to the previous travelable point according to the historical travelable point table, and if the previous travelable point is stored with respect to the previous travelable point in the historical travelable point table, it may continue to return to the previous travelable point; and if the last travelable point does not store other travelable directions except the already-traveled direction, continuing returning to other travelable points until the returning vehicle receives the first travelable point stored after the parking instruction. For example, when the last travelable point is travelable point 3, when travelable point 3 does not store any other travelable direction than the already-traveled direction, travelable point 2 is returned, and so on until the vehicle returns to the first travelable point in the history travelable point table.
The travelable point stores the traveling direction of the vehicle at the current travelable point and the position information of the current travelable point, i.e. the travelable point 2 stores the specific position information of the travelable point 2 and the travelable direction and the traveled direction of the vehicle at the travelable point 2, e.g. if the vehicle has a front and a right in the travelable direction of the travelable point 2 and the vehicle selects the traveling direction as the front, the travelable point 2 stores the travelable direction as the front and the right in the traveled direction as the front.
According to the invention, the parking process is prevented from being terminated because the vehicle cannot be searched in the parking process by judging whether the previous driving point is stored or not and returning the previous driving point, and meanwhile, the command request of requiring the operation of the user is reduced and the parking experience of the user is improved by returning the operation of the previous driving point.
Further, referring to fig. 6, in the parking control method according to the present invention according to the first embodiment of the present invention, the present invention proposes a fifth embodiment, and the step S222 includes:
step S2221, if a previous travelable point exists, acquiring real-time second picture information of the first return travel path, and judging whether an obstacle exists in the first return travel path according to the second picture information;
in this embodiment, the travelable point stores a first return travel path from the last travelable point to the current position of the vehicle, the first return travel path is obtained by the vehicle according to the travel path from the position of the last travelable point to the real-time position, and the real-time path is stored in the last travelable point; the second picture information is acquired by the vehicle according to the all-round-looking camera and the foreground camera, and comprises a real-time image on the first return driving path;
step S2222, if not, then the vehicle travels to a previous travelable point according to the first return travel path, and selects one travelable direction other than the traveled direction from the previous travelable point, and executes: step S40;
step S2223, if an obstacle exists, acquiring information of the obstacle according to the second picture information, and generating a second return path according to the information of the obstacle and the position information of the previous travelable point;
the information of the obstacle includes: the type, shape and size of the obstacle and the moving direction light of the obstacle, in this embodiment, it can be determined whether the obstacle affects the vehicle driving, if not, the vehicle continues to drive according to the first return path, and the scheme of determining the first return path according to the obstacle is as described in the third embodiment, and no redundancy is made here; if the obstacle affects the vehicle travel, a second return travel path is generated.
Step S2224, driving to the previous travelable point according to the second return travel path, and executing: step S40;
the second return driving path may be a route closest to the last driving point, or may be an optimal route to the last driving point, which is not limited herein.
According to the invention, whether the first return driving path can continue to drive or not is judged, so that other vehicles or pedestrians are prevented from appearing on the first return driving path after the vehicle drives, and the safety in the process of finding the parking space is fully ensured; by generating the second return driving path, the situation that the vehicle is stationary in place and congestion is caused is avoided, and the number of times of sending request commands to the user is reduced.
Further, referring to fig. 7, in the parking control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes a sixth embodiment, and the step S40 includes:
step S41, driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving possible point, and acquiring parking space information of all parking spaces within a second preset range, wherein the parking space information comprises parking space line information, parking space area information and parking space obstacle information of the parking spaces;
step S42, if the parking space has the parking space line, judging whether the parking space is an empty parking space according to the parking space line information and the parking space area information;
step S43, if the parking space does not have a parking space line, judging whether the parking space is an empty parking space according to the parking space area information and the parking space obstacle information;
in this embodiment, whether an empty parking space exists or not can be judged according to return information of a camera and a radar which are installed on a vehicle in a driving process, wherein the camera identifies the parking space on a parking line, the parking space is classified according to the area of the parking space, the parking space can be divided into unoccupied parking space and occupied parking space, and the occupied parking space is occupied if the occupied area of the nearby vehicle exceeds 20% of the occupied parking space; if the parking space line does not exist, identifying the parking space of the obstacle through an ultrasonic radar, and judging whether the vacancy can be used for parking or not by calculating the distance between the obstacles and the depth of the vacancy;
in this embodiment, judge through parking stall information whether there is the empty parking stall, simultaneously through the accurate detection of camera and radar, fully guaranteed the accuracy that the empty parking stall was judged for the time that the process of parking consumed reduces by a wide margin, has promoted user's experience and has felt.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 02 in the vehicle of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several pieces of information for causing the vehicle to perform the method according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A parking control method characterized by comprising:
receiving a parking instruction, and acquiring environmental information in a first preset range around a vehicle;
determining at least one vehicle travelable direction according to the environment information, and recording and determining the vehicle position of the travelable direction as a travelable point;
selecting one of the at least one drivable direction as a current drivable direction according to a preset sequence, wherein the preset sequence is the front, the right and the left of the current position of the vehicle;
driving along the current driving direction, setting the current driving direction as a driven direction corresponding to the drivable point, and searching for an empty parking space in a second preset range around the vehicle in the driving process;
if the empty parking space exists in the second preset range, parking according to the position information of the empty parking space;
if no empty parking space exists in the second preset range, returning to the travelable point, updating the current traveling direction to be a travelable direction which is selected according to a preset sequence and is not the traveled direction corresponding to the travelable point, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
2. The vehicle parking control method according to claim 1, wherein the environmental information includes first picture information containing image information within a first preset range of the vehicle periphery; the step of determining at least one travelable direction of the vehicle according to the environment information and recording the vehicle position at which the travelable direction is determined as a travelable point comprises:
judging whether the first picture information contains an indication direction image or not;
if the first picture information contains an indication direction image, judging whether an obstacle exists in an indication direction corresponding to the indication direction image;
if an obstacle exists in the indication direction corresponding to the indication direction image, acquiring information of the obstacle according to the first picture information and determining whether the indication direction can be driven or not;
and if the indicated direction can be driven, recording the current position of the vehicle as a drivable point and storing the drivable point.
3. The parking control method according to claim 2, wherein the step of determining whether the first picture information includes an image indicating a direction is followed by:
and if the first picture information does not contain the image indicating the direction, determining whether the current position of the vehicle is a driving point or not according to the first picture information and a preset identification direction.
4. The vehicle parking control method according to claim 3, wherein the step of determining whether the current position of the vehicle is a drivable point based on the environment information and a preset recognition direction if the first picture information does not include an image indicating a direction includes:
sequentially identifying whether the driving directions exist in the front, the right and the left of the current position of the vehicle according to the preset identification direction;
if yes, judging whether the drivable direction has an obstacle or not according to the drivable direction and the environmental information;
if no obstacle exists, determining the direction as the driving direction, storing the recognized driving direction and the current position of the vehicle as the driving point according to the sequence of the preset recognized direction, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
5. The vehicle parking control method according to claim 4, wherein the travelable point includes travel direction information stored at the travelable point and position information of the travelable point; the step of sequentially identifying whether the driving directions exist at the front, the right and the left of the current position of the vehicle according to the preset identification direction comprises the following steps:
if the driving directions do not exist in the front, the right and the left of the current position of the vehicle, judging whether a previous driving point is stored, wherein the previous driving point is other driving points stored after the vehicle receives the parking instruction;
if the previous travelable point is stored, returning the previous travelable point according to the position information and the traveling direction information of the previous travelable point, updating the current traveling direction to be a travelable direction which is selected according to a preset sequence and is not the traveled direction corresponding to the previous travelable point, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
6. The vehicle parking control method according to claim 5, wherein the travelable point stores a first return travel path from a last travelable point to a current position of the vehicle; if the previous travelable point is stored, the step of returning the previous travelable point according to the position information and the traveling direction information of the previous travelable point comprises the following steps:
if the previous travelable point exists, acquiring real-time second picture information of the first return travel path, and judging whether the first return travel path has an obstacle or not according to the second picture information;
if not, driving to the previous travelable point according to the first return travel path, selecting one travelable direction except the traveled travel direction from the previous travelable point, and executing: and the step of driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for the empty parking space in a second preset range around the vehicle in the driving process.
7. The vehicle parking control method according to claim 6, wherein the step of acquiring real-time second picture information of the first return travel path if there is a previous travelable point, and determining whether there is an obstacle in the first return travel path based on the second picture information includes:
if the obstacle exists, acquiring information of the obstacle according to the second picture information, and generating a second return driving path according to the information of the obstacle and the position information of the previous driving point;
and driving to the last driving point according to the second return driving path, and executing: and driving along the current driving direction, setting the current driving direction as the driving direction corresponding to the driving point, and searching for an empty parking space in a second preset range around the vehicle in the driving process.
8. The vehicle parking control method according to claim 1, wherein the step of searching for an empty space within a second preset range around the vehicle during traveling includes:
driving along the current driving direction, setting the current driving direction as a driving direction corresponding to the drivable point, and acquiring parking space information of all parking spaces within a second preset range, wherein the parking space information comprises parking space line information, parking space area information and parking space obstacle information of the parking spaces;
if the parking space has the parking space line, judging whether the parking space is an empty parking space according to the parking space line information and the parking space area information;
and if the parking space does not have the parking space line, judging whether the parking space is an empty parking space according to the parking space area information and the parking space obstacle information.
9. A vehicle, characterized in that the vehicle comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, implements the steps of the parking control method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the steps of the parking control method according to any one of claims 1 to 8.
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Inventor after: Deng Wanyun

Inventor after: Li Chunling

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Inventor after: Liao Weihua

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