CN114333405B - Method for assisting in parking a vehicle - Google Patents
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- CN114333405B CN114333405B CN202111649381.2A CN202111649381A CN114333405B CN 114333405 B CN114333405 B CN 114333405B CN 202111649381 A CN202111649381 A CN 202111649381A CN 114333405 B CN114333405 B CN 114333405B
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Abstract
The disclosure provides a method for assisting in parking a vehicle, relates to the technical field of data processing, and particularly relates to the technical field of Internet of vehicles and intelligent cabins. The implementation scheme is as follows: determining whether the target parking space is occupied or not in response to a parking instruction corresponding to the target parking space; monitoring the state of the target parking space in response to determining that the target parking space is occupied; and controlling the autonomous vehicle to drive into the target parking space in response to monitoring that the state of the target parking space is changed from occupied to idle.
Description
Technical Field
The present disclosure relates to the field of data processing technology, and in particular to the field of internet of vehicles and intelligent cockpit technology, and more particularly to a method, an apparatus, an electronic device, a computer readable storage medium and a computer program product for assisting in parking a vehicle.
Background
In the field of autopilot, more and more autopilot vehicles are being developed and put into use and become a powerful competitor in the field of traffic logistics and the like. With the convenience brought by the automatic driving vehicle being accepted by more and more people, how to provide more convenient automatic driving vehicles on the premise of ensuring safety is a topic of constant attention of people.
The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been recognized in any prior art unless otherwise indicated.
Disclosure of Invention
The present disclosure provides a method, apparatus, electronic device, computer-readable storage medium, and computer program product for assisting in parking a vehicle.
According to an aspect of the present disclosure, there is provided a method for assisting in parking a vehicle, including: determining whether a target parking space is occupied or not in response to a parking instruction corresponding to the target parking space; monitoring the state of the target parking space in response to determining that the target parking space is occupied; and controlling the autonomous vehicle to drive into the target parking space in response to monitoring that the state of the target parking space is changed from occupied to idle.
According to another aspect of the present disclosure, there is provided an apparatus for assisting in parking a vehicle, including: a first determination unit configured to determine whether a target parking space is occupied in response to a parking instruction corresponding to the target parking space; the monitoring unit is configured to monitor the state of the target parking space in response to determining that the target parking space is occupied; and the control unit is configured to control the autonomous vehicle to drive into the target parking space in response to monitoring that the state of the target parking space is changed from occupied to idle.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for assisting in parking a vehicle described in embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method for assisting in parking a vehicle described in the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method for assisting in parking of a vehicle described in embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided an autonomous vehicle including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for assisting in parking a vehicle described in embodiments of the present disclosure.
According to one or more embodiments of the present disclosure, when a target parking space to be entered by an autonomous vehicle is occupied, the autonomous vehicle is controlled to automatically monitor the target parking space, and when the state of the monitored target parking space is changed from occupied to idle, the autonomous vehicle is controlled to automatically stop to the target parking space, so that a user is not required to manually monitor the idle target parking space and then enter, the operation of parking to the target parking space by the user is reduced, and the time for parking to the target parking space by the user is saved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The accompanying drawings illustrate exemplary embodiments and, together with the description, serve to explain exemplary implementations of the embodiments. The illustrated embodiments are for exemplary purposes only and do not limit the scope of the claims. Throughout the drawings, identical reference numerals designate similar, but not necessarily identical, elements.
FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, in accordance with an embodiment of the present disclosure;
FIG. 2 illustrates a flow chart of a method for assisting in parking a vehicle in accordance with an embodiment of the present disclosure;
FIG. 3 illustrates a flowchart of a process of monitoring a status of a target parking space in a method for assisting in parking of a vehicle according to an embodiment of the present disclosure;
FIG. 4 illustrates a schematic structural view of an autonomous vehicle in a method for assisting in parking of the vehicle in accordance with an embodiment of the present disclosure;
FIG. 5 illustrates a flow chart of a process in which a target parking spot may be detected at a first location to obtain a detection in a method for assisting in parking a vehicle in accordance with an embodiment of the present disclosure;
FIGS. 6A and 6B illustrate a scene diagram implementing a method for assisting in parking a vehicle in accordance with an embodiment of the disclosure;
FIG. 7 illustrates a flowchart of a process of monitoring a status of a target parking spot in a method for assisting in parking of a vehicle according to an embodiment of the present disclosure;
FIG. 8 shows a block diagram of an apparatus for assisting in parking a vehicle in accordance with an embodiment of the present disclosure; and
fig. 9 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the present disclosure, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on the description of the context.
The terminology used in the description of the various illustrated examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.
Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented, in accordance with an embodiment of the present disclosure. Referring to fig. 1, the system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.
In an embodiment of the present disclosure, motor vehicle 110 may include a computing device in accordance with an embodiment of the present disclosure and/or be configured to perform a method in accordance with an embodiment of the present disclosure.
Server 120 may run one or more services or software applications that enable execution of a method for assisting in parking a vehicle. In some embodiments, server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof that are executable by one or more processors. A user of motor vehicle 110 may in turn utilize one or more client applications to interact with server 120 to utilize the services provided by these components. It should be appreciated that a variety of different system configurations are possible, which may differ from system 100. Accordingly, FIG. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.
The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture that involves virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain virtual storage devices of the server). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.
The computing units in server 120 may run one or more operating systems including any of the operating systems described above as well as any commercially available server operating systems. Server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.
In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of motor vehicle 110.
Network 130 may be any type of network known to those skilled in the art that may support data communications using any of a number of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, the one or more networks 110 may be a satellite communications network, a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (including, for example, bluetooth, wiFi), and/or any combination of these with other networks.
The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of databases 150 may be used to store information such as audio files and video files. The data store 150 may reside in various locations. For example, the data store used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data store 150 may be of different types. In some embodiments, the data store used by server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve the databases and data from the databases in response to the commands.
In some embodiments, one or more of databases 150 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key value stores, object stores, or conventional stores supported by the file system.
Motor vehicle 110 may include a sensor 111 for sensing the surrounding environment. The sensors 111 may include one or more of the following: visual cameras, infrared cameras, ultrasonic sensors, millimeter wave radar, and laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be mounted in front of, behind or other locations on the vehicle. The vision cameras can capture the conditions inside and outside the vehicle in real time and present them to the driver and/or passengers. In addition, by analyzing the captured images of the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, etc. can be acquired. The infrared camera can capture objects under night vision. The ultrasonic sensor can be arranged around the vehicle and is used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directivity and the like. The millimeter wave radar may be installed in front of, behind, or other locations of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. Lidar may be mounted in front of, behind, or other locations on the vehicle for detecting object edges, shape information for object identification and tracking. The radar apparatus may also measure a change in the speed of the vehicle and the moving object due to the doppler effect.
Motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with the mobile communication base station 142, and the mobile communication network may implement any suitable communication technology, such as the current or evolving wireless communication technology (e.g., 5G technology) such as GSM/GPRS, CDMA, LTE. The communication device 112 may also have a Vehicle-to-Everything (V2X) module configured to enable, for example, vehicle-to-Vehicle (V2V) communication with other vehicles 143 and Vehicle-to-Infrastructure (V2I) communication with Infrastructure 144. In addition, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to a smart phone, tablet computer, or wearable device such as a watch), for example, by using a wireless local area network or bluetooth of the IEEE802.11 standard. With the communication device 112, the motor vehicle 110 can also access the server 120 via the network 130.
Motor vehicle 110 may also include a control device 113. The control device 113 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., in communication with various types of computer readable storage devices or mediums. The control device 113 may include an autopilot system for automatically controlling various actuators in the vehicle. The autopilot system is configured to control a powertrain, steering system, braking system, etc. of a motor vehicle 110 (not shown) via a plurality of actuators in response to inputs from a plurality of sensors 111 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Part of the processing functions of the control device 113 may be implemented by cloud computing. For example, some of the processing may be performed using an onboard processor while other processing may be performed using cloud computing resources. The control device 113 may be configured to perform a method according to the present disclosure. Furthermore, the control means 113 may be implemented as one example of a computing device on the motor vehicle side (client) according to the present disclosure.
The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.
Referring to fig. 2, a method 200 for assisting in parking a vehicle in accordance with some embodiments of the present disclosure includes:
step S210: determining whether a target parking space is occupied or not in response to a parking instruction corresponding to the target parking space;
step S220: monitoring the state of the target parking space in response to determining that the target parking space is occupied;
step S230: and controlling the autonomous vehicle to drive into the target parking space in response to the state of the target parking space being monitored to be changed from occupied to idle.
When the target parking space to be erected into by the autonomous vehicle is occupied, the autonomous vehicle monitors the target parking space automatically, and when the state of the monitored target parking space is changed from occupied to idle, the autonomous vehicle is controlled to drive into the target parking space, so that the autonomous vehicle can stop to the target parking space automatically without the need of a user to monitor the idle target parking space and drive into the target parking space, the operation of parking to the target parking space by the user is reduced, and the time for parking to the target parking space by the user is saved.
In the related art, an autonomous vehicle based on automatic driving must stop to a target parking space corresponding to an instruction based on an instruction of a person. For example, the user command is directed to target parking space a, and the autonomous vehicle currently located at point B is driven from point B to target parking space a and stopped. When the target parking space A is occupied by the vehicle at present, the user must resend the user instruction pointing to the other unoccupied idle parking space C, so that the autonomous vehicle at the point B runs from the point B to the idle parking space C to stop. Therefore, for the target parking space a where the user wants to stop the vehicle at his position, the user is required to monitor whether it is free or whether it is free by himself or by a parking space manager and send a message to the user that it is free; after the target parking space A is idle, the user sends an instruction to instruct the autonomous vehicle to stop to the target parking space A. This process tends to be time consuming and energy intensive for the user.
According to the embodiment of the disclosure, after a user sends the instruction for indicating the autonomous vehicle to stop to the target parking space A, the autonomous vehicle can automatically judge whether the target parking space A is occupied, when the autonomous vehicle is occupied, the target parking space A is automatically monitored, after the target parking space A is idle, the autonomous vehicle automatically drives into the target parking space A, and the whole process can realize that the vehicle stopping is used for stopping the vehicle at the target parking space A which wants to stop the vehicle at the position of the vehicle only by sending the instruction for indicating the autonomous vehicle to stop to the target parking space A by the user. Greatly reduces the operation of the user and reduces the energy consumption of the user.
It is to be understood that the method according to the present disclosure is applicable to various parking scenarios, in particular to scenarios where there is temporarily no parking space when parking in a parking lot.
In some embodiments, the target parking space may be a parking space within a parking lot. In other embodiments, the target spot may be a parking location of the target site. Such as a garage located at home.
In some embodiments, determining whether the target parking space is occupied is accomplished by a detection device disposed on the autonomous vehicle. For example, a photograph of the target parking space is obtained by the camera, and whether the target parking space is occupied is determined based on the photograph analysis.
In some embodiments, determining whether the target parking space is occupied is accomplished by a cloud server. For example, the cloud server receives information sent by the target parking space indicating whether the target parking space is occupied or not, and sends the information to the autonomous vehicle, so that the autonomous vehicle determines whether the target parking space is occupied or not based on the information.
In some embodiments, after determining that a target parking space is occupied, monitoring the state of the target parking space, as shown in fig. 3, includes:
step S310: controlling the autonomous vehicle to stop at a first position, wherein the distance between the first position and the target parking space is smaller than a preset threshold value;
step S320: detecting the target parking space at the first position to obtain a detection result indicating whether the target parking space is idle; and
step S330: and monitoring the target parking space based on the detection result.
The autonomous vehicle is stopped at the first position close to the target parking space, and the target parking space is detected at the first position to obtain a detection result indicating whether the target parking space is space or not, so that the target parking space is monitored.
The detection process is realized by adopting a sensing device arranged on the autonomous vehicle. Referring to fig. 4, the exterior of a body 401 of an autonomous vehicle 400 is equipped with sensing devices, which may include 2 bullet screen cameras 410a and 4 fish-eye cameras 410b, 4 APA ultrasonic radar devices 420a and 8 UPA ultrasonic radar devices 420b, and so on. The monocular camera 410a and the fisheye camera 410b each have a corresponding detection range, as shown in the area defined by the dashed box in fig. 4.
In some embodiments, detecting the target parking space at the first location is performed by acquiring an image captured by an imaging device and analyzing the image.
In some embodiments, as shown in fig. 5, detecting the target parking space at the first location to obtain the detection includes:
step S510: transmitting ultrasonic waves at the first position and receiving ultrasonic echoes; and
step S520: and obtaining the detection result based on the received ultrasonic echo.
The ultrasonic radar is used for sending ultrasonic waves at the first position and receiving ultrasonic echoes to obtain detection results, and the ultrasonic radar is sensitive in sensing when the vehicle moves slowly and is stationary, so that the data processing amount in the process of obtaining the detection results is small, the efficiency is high, and the method for obtaining the detection results is simple.
In some embodiments, the preset threshold value ranges from 1m to 4m.
The first position is set at a position within 4m of the target parking space, so that the detection result of the ultrasonic wave is accurate. Meanwhile, the distance from the first position to the target parking space is at least 1m, so that the influence on the running-out of the vehicle currently occupying the target parking space is avoided.
In some examples, the first location is set to within 3 meters from the target parking spot in response to the ultrasonic radar detection ranging between 0.1-3 meters with the highest accuracy.
Referring to fig. 6A and 6B, a scenario diagram is shown implementing a method for assisting in parking a vehicle according to some embodiments of the present disclosure. As shown in fig. 6A, when it is determined that the target parking space 601 is currently occupied by the vehicle 620, the autonomous vehicle 610 stops at a first position located laterally to the target parking space 601. As shown in fig. 6B, when the vehicle 620 exits the target space 601 to free the target space 601, the autonomous vehicle 610 monitors that the state of the target space 601 changes from occupied to free and enters the target space 601.
In some embodiments, as shown in fig. 7, monitoring the state of the target parking space includes:
step S710: receiving a detection signal from a detection device positioned in the target parking space; and
step S720: and monitoring the target parking space based on the detection signal.
The detection signal comprises any one of a first signal and a second signal, the first signal indicates that the current state of the target parking space is occupied, and the second signal indicates that the current state of the target parking space is idle.
For a target parking space with a longer distance, the target parking space is monitored by receiving a detection signal sent by the target parking space.
For example, for a target parking space beyond 2km, a cloud server receives a detection signal sent by a communication module on the target parking space and sends the detection signal to an autonomous vehicle, so that the state that the autonomous vehicle monitors the target parking space is changed from occupied to idle, and the autonomous vehicle is controlled to travel to the target parking space.
In some embodiments, the detection device of the target parking space may be, for example, a radar sensing device.
In some embodiments, a wireless communication device is further disposed on the target parking space to send a detection signal of the detection device.
In some embodiments, a wireless communication module on the target parking spot may communicate directly with the autonomous vehicle, sending a detection signal to the autonomous vehicle.
According to another aspect of the present disclosure, there is also provided an apparatus for assisting in parking a vehicle, referring to fig. 8, an apparatus 800 including: a first determining unit 810 configured to determine whether a target parking space is occupied in response to a parking instruction corresponding to the target parking space; a monitoring unit 820 configured to monitor a state of the target parking space in response to determining that the target parking space is occupied; and a control unit 830 configured to control the autonomous vehicle to drive into the target parking space in response to monitoring that the state of the target parking space is changed from occupied to idle.
In some embodiments, the monitoring unit 820 includes: a control subunit configured to control the autonomous vehicle to stop at a first location, the first location being less than a preset threshold from the target parking space; the detection unit is configured to detect the target parking space at the first position so as to obtain a detection result indicating whether the target parking space is idle; and the monitoring subunit is configured to monitor the target parking space based on the detection result.
In some embodiments, the detection unit comprises: an ultrasonic wave transmitting-receiving unit configured to transmit ultrasonic waves at the first position and receive ultrasonic echoes; and a detection result acquisition unit configured to acquire the detection result based on the received ultrasonic echo.
In some embodiments, the preset threshold value ranges from 1m to 4m.
In some embodiments, the monitoring unit 820 includes: a receiving unit configured to receive a detection signal from a detection device located at the target parking space, the detection signal including any one of a first signal indicating that a current state of the target parking space is occupied and a second signal indicating that the current state of the target parking space is free; and an acquisition subunit configured to obtain the detection result based on the detection signal.
According to another aspect of the present disclosure, there is also provided an electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method for assisting in parking a vehicle according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform a method for assisting in parking a vehicle according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements a method for assisting in parking a vehicle according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is also provided a vehicle including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method for assisting in parking a vehicle according to an embodiment of the present disclosure.
In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.
Referring to fig. 9, a block diagram of an electronic device 900 that may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 909 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other by a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
Various components in device 900 are connected to I/O interface 905, including: an input unit 906, an output unit 907, a storage unit 908, and a communication unit 909. The input unit 906 may be any type of device capable of inputting information to the device 900, the input unit 906 may receive input numeric or character information and generate key signal inputs related to user settings and/or function control of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and/or a remote control. The output unit 907 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 908 may include, but is not limited to, magnetic disks, optical disks. Communication unit 909 allows device 900 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and/or chipsets, such as bluetooth TM Devices, 802.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above, such as method 200. For example, in some embodiments, the method 200 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of method 200 described above may be performed. Alternatively, in other embodiments, computing unit 901 may be configured to perform method 200 by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the foregoing methods, systems, and apparatus are merely exemplary embodiments or examples, and that the scope of the present invention is not limited by these embodiments or examples but only by the claims following the grant and their equivalents. Various elements of the embodiments or examples may be omitted or replaced with equivalent elements thereof. Furthermore, the steps may be performed in a different order than described in the present disclosure. Further, various elements of the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after the disclosure.
Claims (11)
1. A method for assisting in parking a vehicle for application to an unmanned autonomous vehicle, wherein the method comprises:
determining, by the autonomous vehicle, whether a target parking spot is occupied in response to a parking instruction corresponding to the target parking spot;
monitoring, by the autonomous vehicle, a status of the target parking space in response to determining that the target parking space is occupied; and
responsive to monitoring that the state of the target parking space is changed from occupied to idle, the autonomous vehicle is driven into the target parking space;
wherein the monitoring, by the autonomous vehicle, the status of the target parking space includes:
the autonomous vehicle is stopped at a first position, and the distance between the first position and the target parking space is smaller than a preset threshold value;
detecting the target parking space at the first position by the autonomous vehicle to obtain a detection result indicating whether the target parking space is idle; and
and monitoring the target parking space by the autonomous vehicle based on the detection result.
2. The method of claim 1, wherein the detecting, by the autonomous vehicle, the target parking spot at the first location to obtain the detection comprises:
transmitting ultrasonic waves at the first location by the autonomous vehicle and receiving ultrasonic echoes; and
the detection result is obtained by the autonomous vehicle based on the received ultrasonic echo.
3. The method according to claim 2, wherein the preset threshold has a value ranging from 1m to 4m.
4. The method of claim 1, wherein the monitoring, by the autonomous vehicle, of the status of the target parking space comprises:
receiving, by the autonomous vehicle, a detection signal from a detection device located at the target parking space, the detection signal including any one of a first signal indicating that the current state of the target parking space is occupied and a second signal indicating that the current state of the target parking space is free; and
and monitoring the target parking space by the autonomous vehicle based on the detection signal.
5. An apparatus for assisting in parking a vehicle for application to an unmanned autonomous vehicle, wherein the apparatus comprises:
a first determination unit configured to determine whether a target parking space is occupied in response to a parking instruction corresponding to the target parking space;
the monitoring unit is configured to monitor the state of the target parking space in response to determining that the target parking space is occupied; and
the control unit is configured to control the autonomous vehicle to drive into the target parking space in response to monitoring that the state of the target parking space is changed from occupied to idle;
wherein, the monitoring unit includes:
a control subunit configured to control the autonomous vehicle to stop at a first location, the first location being less than a preset threshold from the target parking space;
the detection unit is configured to detect the target parking space at the first position so as to obtain a detection result indicating whether the target parking space is idle; and
and the monitoring subunit is configured to monitor the target parking space based on the detection result.
6. The apparatus of claim 5, wherein the detection unit comprises:
an ultrasonic wave transmitting-receiving unit configured to transmit ultrasonic waves at the first position and receive ultrasonic echoes; and
and a detection result acquisition unit configured to acquire the detection result based on the received ultrasonic echo.
7. The apparatus of claim 6, wherein the preset threshold has a value ranging from 1m to 4m.
8. The apparatus of claim 5, wherein the monitoring unit comprises:
a receiving unit configured to receive a detection signal from a detection device located at the target parking space, the detection signal including any one of a first signal indicating that a current state of the target parking space is occupied and a second signal indicating that the current state of the target parking space is free; and
and an acquisition subunit configured to obtain the detection result based on the detection signal.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-4.
11. A vehicle, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
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