CN110371107B - Automatic parking method, device, medium and equipment - Google Patents
Automatic parking method, device, medium and equipment Download PDFInfo
- Publication number
- CN110371107B CN110371107B CN201810330846.XA CN201810330846A CN110371107B CN 110371107 B CN110371107 B CN 110371107B CN 201810330846 A CN201810330846 A CN 201810330846A CN 110371107 B CN110371107 B CN 110371107B
- Authority
- CN
- China
- Prior art keywords
- parking space
- vehicle
- parked
- fixed parking
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004590 computer program Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 10
- 230000003993 interaction Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the field of automatic parking, in particular to an automatic parking method, device, medium and equipment. When the parking lot is parked automatically, if the detected parking places have the preset fixed parking places, the parking lot is preferentially parked, the fixed parking place is automatically selected for the vehicle to be parked to park, and the parking place selection is optimized by selecting the preset fixed parking places to park. Meanwhile, in the parking space selection process, interaction with a user is not needed, the time required by parking space selection is further saved, and user operation is reduced.
Description
Technical Field
The invention relates to the field of automatic parking, in particular to an automatic parking method, device, medium and equipment.
Background
When the vehicle is parked automatically, the parking space can be determined by utilizing the radar scanning environment according to the radar scanning result, and the determined parking space information can be displayed on the vehicle-mounted central control large screen. When the determined number of parking spaces is more than one, the problem of selecting which parking space to park in exists.
In the prior art, a vehicle owner generally selects a parking space to be parked autonomously, or a system randomly recommends a parking space for the vehicle owner. Obviously, the current parking space selection methods cannot automatically select the optimal parking space for the vehicle to be parked to enter.
Disclosure of Invention
The embodiment of the invention provides an automatic parking method, device, medium and equipment, which are used for parking a vehicle into an optimally selected parking space.
An automatic parking method, the method comprising:
when an automatic parking request is received, determining whether a preset fixed parking space exists in the currently detected parking spaces;
and if a fixed parking space exists in the parking available parking spaces, controlling the vehicle to be parked to park in the fixed parking space.
An automatic parking apparatus, the apparatus comprising:
the system comprises a determining module, a parking determining module and a parking determining module, wherein the determining module is used for determining whether a preset fixed parking space exists in the currently detected parking available parking spaces or not when an automatic parking request is received;
and the control module is used for controlling the vehicle to be parked to park in the fixed parking space if the determining module determines that the fixed parking space exists in the parking spaces.
A non-transitory computer storage medium storing an executable program that is executed by a processor to implement the steps of the above method.
An automatic parking device comprises a memory, a processor and a computer program stored on the memory, wherein the processor realizes the steps of the method when executing the program.
When the parking lot is parked automatically, if the detected parking places have the preset fixed parking places, the parking lot is preferentially parked, the fixed parking place is automatically selected for the vehicle to be parked to park, and the parking place selection is optimized by selecting the preset fixed parking places to park. Meanwhile, in the parking space selection process, interaction with a user is not needed, the time required by parking space selection is further saved, and user operation is reduced.
Drawings
Fig. 1 is a flowchart illustrating steps of an automatic parking method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of an automatic parking method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of automatic parking according to a second embodiment of the present invention;
fig. 4 is a schematic diagram of automatic parking according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an automatic parking device according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an automatic parking apparatus according to a fifth embodiment of the present invention.
Detailed Description
In the embodiment of the invention, parking spaces in which users want to park preferentially, such as parking spaces with paid annual fees, free parking spaces, parking spaces closest to target positions of users after getting off, and the like, are preset as fixed parking spaces. And the vehicle to be parked can be parked in the selected fixed parking space subsequently, so that the parking space selection result is optimized.
The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.
Example one
As shown in fig. 1, a flowchart of steps of an automatic parking method according to an embodiment of the present invention is provided, where the method includes the following steps:
step 101, determining whether a parking space is a fixed parking space.
When an automatic parking request is received, it may be determined whether a preset fixed parking space exists among currently detected parking spaces. A parking space is understood to be a free space in which no parking is possible.
In the embodiments of the present invention, a fixed parking space may be understood as a parking space at a fixed position designated by a user, and may also be understood as a parking space marked with a parking space similar to a new energy vehicle exclusive parking space or other exclusive parking spaces.
The method includes the steps of presetting a fixed parking space, and may not be limited to the steps of saving parking space coordinates of the fixed parking space in advance, such as coordinates of a parking space center point, and/or coordinates of four end points of the parking space. The parking space coordinates of the fixed parking space are saved in advance, but not limited to, the parking space coordinates can be saved by the following methods: the coordinate value corresponding to the current center point of the vehicle is determined, the coordinate value corresponding to the center point of the vehicle can be determined by, but is not limited to, a vehicle-mounted Global Positioning System (GPS), and the parking space coordinate of the fixed parking space can be determined by, but is not limited to, radar recognition according to the position relationship between the recognized fixed parking space and the vehicle.
In this step, it is determined whether a preset fixed parking space exists in the currently detected parking spaces, which may be understood as determining whether a parking space having the same parking space coordinates as the preset fixed parking space exists in the currently detected parking spaces.
For example, the coordinates of the parking spaces of the pre-stored fixed parking spaces are the coordinates of the center point (x1, y1), and in this step, it may be determined whether there is a parking space with the coordinates of the center point (x1, y1) among the detected parking spaces.
Specifically, for example, the preset parking space coordinate of the fixed parking space is taken as the center point coordinate of the parking space, the coordinate value corresponding to the center point, for example, of the vehicle to be parked may be determined, and the determination of the coordinate value corresponding to the vehicle to be parked may be implemented by, but is not limited to, a GPS. According to the coordinate value and the identified position relationship between the parking space and the vehicle to be parked, the position relationship between the parking space and the vehicle to be parked can be identified by a radar, but not limited to be identified by the radar, and the coordinate value corresponding to the center point of each parking space is determined. It should be noted that, because a certain error may exist in the process of determining the coordinate value corresponding to the center point of the parking space, preferably, the parking space where the distance between the center point and the center point of the fixed space is not greater than a set distance, such as 1/2 parking space width, may be determined as the fixed space according to the coordinate value corresponding to the center point of the fixed space stored in advance.
For another example, the coordinates of the pre-stored fixed parking spaces are coordinates of four end points (x1, y1), (x2, y2), (x3, y3), (x4, y4), and in this step, it can be determined whether there are available parking spaces with coordinates of four end points (x1, y1), (x2, y2), (x3, y3), (x4, y4) among the detected parking spaces.
Specifically, taking the preset parking space coordinates of the fixed parking space as coordinates of four end points of the parking space as an example, the coordinate values corresponding to the center points of the vehicle to be parked may be determined, and the determination of the coordinate values corresponding to the vehicle to be parked may be implemented by, but is not limited to, a vehicle-mounted Global Positioning System (GPS). And determining coordinate values corresponding to four endpoints of each parking space according to the coordinate values and the identified position relationship between the parking spaces and the vehicles to be parked. Preferably, the parking space that is not greater than the designated distance, for example 1/2 parking space width, between the corresponding end points may be determined as the fixed parking space according to the coordinate values corresponding to the four end points of the fixed parking space that are saved in advance.
The fixed parking space is preset, and the parking space identification can be but not limited to including the fixed parking space of preserving in advance, such as the parking space number, the exclusive parking space identification of new energy automobile or other exclusive parking space identifications. In this step, it is determined whether a preset fixed parking space exists in the currently detected parking spaces, which may be understood as determining whether a parking space identical to the preset fixed parking space identifier exists in the currently detected parking spaces. For example, the parking space identifiers of the pre-stored fixed parking spaces are the parking space numbers R63 and Q456, and in this step, it may be determined whether there is a parking space with the parking space number R63 and Q456 among the detected parking space numbers of the parking spaces.
Taking the parking space identifier as the parking space number as an example, the pre-saving of the parking space number of the fixed parking space can be realized by, but is not limited to, the following method: and receiving the parking space number manually input by the user, or identifying the parking space number according to the image acquired by the vehicle-mounted camera. When determining whether the detected parking space has a fixed parking space, the method may be, but not limited to, determining whether the parking space number of the parking space identified according to the image acquired by the vehicle-mounted camera includes a pre-stored parking space number of the fixed parking space.
Of course, the preset fixed parking space may also include but is not limited to a parking space identifier and a parking space coordinate that are pre-stored in the fixed parking space. In this step, it is determined whether a preset fixed parking space exists in the currently detected parking spaces, which may be understood as determining whether a parking space with the same coordinates as the preset fixed parking space and/or the same identifier exists in the currently detected parking spaces.
The preset fixed parking space can be realized by at least one of the following three modes:
in the first mode, after a user finishes parking once, the user confirms that the current parking space is set as a fixed parking space.
And in the second mode, a fixed parking space is recommended for the user according to the historical parking information of the user, for example, the recommended user sets the parking space with the parking times larger than a set threshold value as the fixed parking space, and the fixed parking space is set after the user confirms the fixed parking space.
And in the third mode, when the parking spaces are detected, prompting a user to select one parking space from the detected parking spaces to be set as a fixed parking space, and realizing the setting of the fixed parking space according to the selection of the user.
The automatic parking request can be confirmed by popping up an automatic parking interface to a user through a vehicle-mounted central control large screen and according to the operation of the user on the automatic parking interface when a parking space is detected.
The parking space detection can be realized by various methods in the prior art, such as scanning the environment by using a radar and determining the parking space to be detected according to the radar scanning result.
If it is determined that there is a preset fixed space among the detected available parking spaces, step 102 may be performed, otherwise step 103 may be performed.
And 102, controlling the vehicle to be parked to enter the fixed parking space.
In this step, if it is determined that a fixed parking space exists in the parking spaces, the vehicle to be parked may be controlled to park in the fixed parking space, and the process is ended.
Of course, the number of the preset fixed parking spaces may be one or more. It is also possible that a plurality of fixed spaces are included in the currently detected parking spaces. In this step, if the number of the fixed parking spaces existing in the parking spaces is not less than one, the vehicle to be parked may be controlled to park in one fixed parking space according to a predetermined rule, for example, the fixed parking space closest to the current position of the vehicle to be parked.
Since the detected parking space is close to the relative position of the vehicle to be parked, the vehicle to be parked can directly drive into each parking space, and therefore, in this step, the fixed parking space closest to the current position of the vehicle to be parked can be understood as, but not limited to, the fixed parking space with the smallest distance between the center point and the center point of the vehicle to be parked.
Specifically, a parking rule can be preset according to the automatic parking path plan, and an optimal fixed parking space is selected for parking. The predetermined rule may include, but is not limited to, a closest distance rule, a shortest parking time rule, a random rule, or a parking space optimization rule.
And 103, judging whether a fixed parking space is set.
In this step, if it is determined that there is no fixed parking space in the currently detected parking space, it may be determined whether a fixed parking space is set. If so, go to step 104, otherwise, go to step 107.
It should be noted that this step is a preferred step, and after step 102, step 104 may also be directly performed.
And step 104, determining whether a fixed parking space exists in the designated range.
In this step, if the fixed parking space is set, it can be determined whether the fixed parking space exists within the designated range of the current position of the vehicle to be parked. If so, step 105 is performed, otherwise, step 107 is performed.
If the fixed parking spaces are preset, including the parking space coordinates which are stored in advance, whether the fixed parking spaces exist in the appointed range of the current position of the vehicle to be parked is determined, and whether the fixed parking spaces exist in the appointed range of the current position of the vehicle to be parked can be determined according to the distribution condition of the preset fixed parking spaces corresponding to the parking space coordinates.
And 105, determining the nearest fixed parking space.
If the fixed parking space exists in the specified range of the current position of the vehicle to be parked, a fixed parking space can be determined from the fixed parking space, for example, the fixed parking space closest to the current position of the vehicle to be parked.
That is, in this embodiment, if there is no fixed parking space in the currently detected parking space, the fixed parking space may be continuously searched within the specified range, and if there is a fixed parking space within the specified range, the fixed parking space closest to the current location of the vehicle to be parked may be determined therefrom. Of course, if only one fixed parking space exists in the designated range, the fixed parking space can be directly determined as the fixed parking space closest to the current position of the vehicle to be parked.
The fixed parking space closest to the current position of the vehicle to be parked may be, but is not limited to, a fixed parking space with the smallest distance between the center point and the center point of the vehicle to be parked.
It should be noted that, because the fixed parking space is searched in a certain range, the relative position between the searched fixed parking space and the vehicle to be parked may be far, and the vehicle to be parked may need to travel according to a certain path to reach the fixed parking space, it is preferable that the distance of the fixed parking space is determined according to the time length of the vehicle to be parked navigating from the current position to the fixed parking space. Preferably, in order to further improve the accuracy of the determined distance between the fixed parking spaces, when the navigation duration is determined, the vehicle to be parked from the current position to each fixed parking space may select the same navigation mode, for example, all the navigation modes are the navigation modes with the shortest route, or all the navigation modes with the least distance, and the like.
Therefore, when the preset parking space coordinates of the fixed parking spaces are the coordinates of the center points of the parking spaces, specifically, the coordinate values corresponding to the center points of the fixed parking spaces in the specified range of the current position of the vehicle to be parked, which are stored in advance, and the coordinate values corresponding to the center points of the vehicle to be parked can be determined;
determining the time required for navigating from the central point of the vehicle to be parked to the central point of each fixed parking space according to the coordinate value corresponding to the central point of each fixed parking space and the coordinate value corresponding to the central point of the vehicle to be parked;
and determining the fixed parking space corresponding to the central point of the fixed parking space with the shortest navigation required time as the fixed parking space closest to the current position of the vehicle to be parked.
And step 106, controlling the vehicle to be parked to park in the fixed parking space with the nearest distance.
After the fixed parking space closest to the current position of the vehicle to be parked is determined, the vehicle to be parked may be controlled to travel to the fixed parking space or the route of the vehicle to be parked to travel to the fixed parking space is indicated, specifically, but not limited to, the vehicle to be parked may be controlled to travel to the fixed parking space or indicated according to a navigation route between the vehicle to be parked and the fixed parking space, for example, the least used navigation route, and the parking space is detected in real time, and when the fixed parking space is detected, the vehicle to be parked is controlled to park in the fixed parking space, and the process is ended.
And step 107, controlling the vehicle to be parked to enter a parking space.
If the fixed parking space is not set, or if the fixed parking space does not exist in the specified range of the current position of the vehicle to be parked, the vehicle to be parked can be abandoned to be parked in the fixed parking space, and the vehicle to be parked can be parked in the currently detected parking space according to the preset rule. For example, the vehicle to be parked is controlled to park in the parking available space which is closest to the current position of the vehicle to be parked. Specifically, the predetermined rule may include, but is not limited to, a closest rule, a shortest parking time rule, a random rule, or a parking space optimization rule.
Specifically, in this embodiment, if one parking space is detected, the vehicle to be parked may be directly controlled to park in the parking space.
If the number of the detected parking spaces is at least two, a parking space can be recommended for the user according to a recommendation algorithm, for example, the parking space closest to the current position of the vehicle to be parked is recommended to the user, and the vehicle to be parked can be controlled to park in the parking space after the user confirms the parking space.
Of course, if at least two parking spaces are detected, the user can be prompted to select one parking space. And controlling the vehicle to be parked to park in the parking space according to the parking space selected by the user.
In each embodiment of the present invention, the interaction with the user may be implemented by any interaction method, but is not limited to being implemented by using a large vehicle-mounted center control screen, and details are not described herein.
The scheme provided by the first embodiment of the invention is explained by a specific example.
Example two
As shown in fig. 2, a flowchart of steps of an automatic parking method according to a second embodiment of the present invention is provided, where the method includes the following steps:
step 201, a parking space is detected.
In this step, the parking space can be determined and detected according to the radar scanning result through the scanning environment of the vehicle-mounted radar and the like.
Step 202, parking space information is displayed.
When the parking space is detected, parking space information can be displayed to a user through the vehicle-mounted central control large screen.
And step 203, prompting a user to set a fixed parking space.
After parking space information is displayed for a user, the user can be prompted to select one parking space from the detected parking spaces to be set as a fixed parking space. The user can select to set up fixed parking stall according to actual need, perhaps does not set up.
And step 204, determining whether the parking available spaces contain fixed spaces.
If an automatic parking request submitted by a user is received, whether the currently detected parking available space contains a fixed space or not can be determined. If so, step 205 is performed, otherwise, step 206 is performed.
As shown in fig. 3, during automatic parking, the vehicle enters from the right side, and the detected available parking spaces may be shown as the shaded parking spaces in fig. 3, which include a fixed parking space.
And step 205, controlling the vehicle to park in the fixed parking space.
If the currently detected parking space contains a fixed parking space, the vehicle can be directly controlled to park in the fixed parking space. If the currently detected parking available positions comprise at least two fixed positions, the vehicle can be controlled to park in the fixed position closest to the vehicle. And ends the flow.
And step 206, judging whether a fixed parking space is set.
In this step, can judge whether set up fixed parking stall. If so, go to step 207, otherwise, go to step 209.
And step 207, judging whether a fixed parking space exists in the designated range.
In this step, it may be determined whether a fixed parking space exists within a specified range of the current location of the vehicle, if so, step 208 is executed, otherwise, step 209 is executed.
And step 208, controlling the vehicle to navigate to the fixed parking space and park in the fixed parking space.
And if the fixed parking spaces exist in the appointed range of the current position of the vehicle, selecting one fixed parking space from the fixed parking spaces, wherein the shortest time is used for navigating from the current position of the vehicle to the selected fixed parking space, and controlling the vehicle to navigate to the fixed parking space and park in the fixed parking space. The process is ended.
As shown in fig. 4, during navigation to the selected fixed parking space, the vehicle travels from the right side to the left side. And detecting the parking available parking space in real time, and parking the selected fixed parking space.
And step 209, judging whether the number of parking spaces is more than 1.
If the fixed parking space is not set or the current position of the vehicle is determined to be within the designated range, the vehicle is abandoned to be parked in the fixed parking space, and the vehicle is parked in the currently detected parking space.
In this step, it may be determined whether the number of currently detected parking spaces is greater than 1, if not, step 210 may be performed, otherwise, step 211 is performed.
And step 210, controlling the vehicle to park in the parking space.
If the number of the currently detected parking spaces is not more than 1, the vehicle can be directly controlled to park in the only parking space. The process is ended.
And step 211, prompting the user to select a parking space.
If the number of parking spaces currently detected is greater than 1, the user may be prompted to select one parking space, if the user selects one parking space, step 212 may be performed, otherwise, step 213 may be performed.
And step 212, controlling the vehicle to park in the available parking space selected by the user.
If the user selects one available parking space, the vehicle can be controlled to park in the available parking space selected by the user. The process is ended.
And step 213, controlling the vehicle to park in a recommended parking space.
If the user does not select the parking space, a parking space can be recommended for the user, and the vehicle is controlled to park in the recommended parking space after the user confirms. The process is ended.
Based on the same inventive concept, the embodiment of the invention also provides an automatic parking device corresponding to the automatic parking method, and as the principle of solving the problems of the device is similar to the automatic parking method in the embodiment of the invention, the implementation of the device can refer to the implementation of the method, and repeated parts are not described again.
EXAMPLE III
As shown in fig. 5, a schematic structural diagram of an automatic parking device according to a third embodiment of the present invention includes a determination module 11 and a control module 12, where:
the determining module 11 is configured to determine whether a preset fixed parking space exists in currently detected parking spaces when receiving an automatic parking request;
the control module 12 is configured to control the vehicle to be parked to park in the fixed parking space if the determining module determines that the fixed parking space exists in the parking spaces.
The control module 12 is specifically configured to control the vehicle to be parked to park in the fixed parking space according to a predetermined rule if the determination module determines that the number of the fixed parking spaces existing in the parking spaces is not less than one.
When a fixed parking space is preset, if the fixed parking space coordinate is stored in advance, the determining module 11 is further configured to determine whether a fixed parking space exists in an appointed range of the current position of the vehicle to be parked according to a distribution condition of the preset fixed parking space corresponding to the parking space coordinate if it is determined that no fixed parking space exists in the parking spaces, and if it is determined that a fixed parking space exists in the appointed range of the current position of the vehicle to be parked, determine a fixed parking space closest to the current position of the vehicle to be parked from the fixed parking spaces in the appointed range of the current position of the vehicle to be parked;
the control module 12 is further configured to control the vehicle to be parked to travel to the fixed parking space or instruct a route of the vehicle to be parked to travel to the fixed parking space, detect a parking space in real time, and control the vehicle to be parked to park in the fixed parking space when the fixed parking space is detected.
Further, if there is no fixed parking space in the parking spaces, the determining module 11 is further configured to determine that a fixed parking space is set before determining whether there is a fixed parking space in the specified range of the current position of the vehicle to be parked.
The control module 12 is further configured to control the vehicle to be parked to enter one parking space according to a predetermined rule if the determination module determines that there is no fixed parking space within the specified range of the current position of the vehicle to be parked.
The control module 12 is further configured to control the vehicle to be parked to park in one available parking space according to a predetermined rule if the determination module determines that the fixed parking space is not set.
When the parking space coordinate of the preset fixed parking space is the central point coordinate of the parking space, then, the determining module 11 is used for determining whether there is the preset fixed parking space in the currently detected parking space, and specifically includes:
determining a coordinate value corresponding to the vehicle to be parked; determining a coordinate value corresponding to a center point of each parking space according to the coordinate value and the identified position relationship between the parking spaces and the vehicle to be parked; and determining the parking space with the distance between the central point and the central point of the fixed parking space not greater than the set distance as the fixed parking space according to the coordinate value corresponding to the central point of the fixed parking space stored in advance.
When the parking space coordinate of the preset fixed parking space is the central point coordinate of the parking space, the determining module 11 is configured to determine, from the fixed parking space within the specified range of the current location of the vehicle to be parked, the fixed parking space closest to the current location of the vehicle to be parked, and specifically includes:
determining coordinate values corresponding to the center points of all fixed parking places in a specified range of the current position of the vehicle to be parked, which are stored in advance, and coordinate values corresponding to the center points of the vehicle to be parked; determining the time required for navigating from the central point of the vehicle to be parked to the central point of each fixed parking space according to the coordinate value corresponding to the central point of each fixed parking space and the coordinate value corresponding to the central point of the vehicle to be parked; and determining the fixed parking space corresponding to the central point of the fixed parking space with the shortest navigation required time as the fixed parking space closest to the current position of the vehicle to be parked.
Example four
A fourth embodiment of the present invention provides a non-volatile computer storage medium, where the computer storage medium stores an executable program, and the executable program is executed by a processor to implement the steps of the method provided in the first and second embodiments of the present invention.
EXAMPLE five
As shown in fig. 6, a schematic structural diagram of an automatic parking apparatus according to a fifth embodiment of the present invention is provided, where the apparatus includes a memory 21, a processor 22, and a computer program stored in the memory, and when the processor 22 executes the computer program, the steps of the method according to the first embodiment and the steps of the method according to the second embodiment of the present invention are implemented.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (14)
1. An automatic parking method, characterized in that the method comprises:
when an automatic parking request is received, determining whether a preset fixed parking space exists in the currently detected parking spaces;
if a fixed parking space exists in the parking spaces, controlling a vehicle to be parked to park in the fixed parking space;
if the current detected parking space does not have a fixed parking space, judging whether the fixed parking space is set;
if so, determining whether a fixed parking space exists in the specified range of the current position of the vehicle to be parked;
and if the fixed parking space exists in the appointed range of the current position of the vehicle to be parked, determining one fixed parking space, controlling the vehicle to be parked to run towards the fixed parking space or indicating the route of the vehicle to be parked to run towards the fixed parking space, detecting the parking space in real time, and controlling the vehicle to be parked to park in the fixed parking space when the fixed parking space is detected.
2. The method of claim 1, wherein if the number of fixed parking spaces existing in the parking space is not less than one, controlling the vehicle to be parked to park in the fixed parking space according to a predetermined rule.
3. The method of claim 1 or 2, wherein when the fixed parking space is preset, if the coordinates of the fixed parking space are stored in advance, determining whether the fixed parking space exists within an appointed range of the current position of the vehicle to be parked comprises:
determining whether a fixed parking space exists in an appointed range of the current position of the vehicle to be parked according to the preset distribution condition of the fixed parking spaces corresponding to the parking space coordinates;
if the fixed parking space exists in the appointed range of the current position of the vehicle to be parked, determining a fixed parking space from the fixed parking space, wherein the steps comprise:
and if the fixed parking spaces are determined to be in the appointed range of the current position of the vehicle to be parked, determining the fixed parking space closest to the current position of the vehicle to be parked from the fixed parking spaces in the appointed range of the current position of the vehicle to be parked.
4. The method as claimed in claim 3, wherein if it is determined that there is no fixed parking space within the specified range of the current position of the vehicle to be parked, the vehicle to be parked is controlled to park in one of the available parking spaces according to a predetermined rule.
5. The method according to claim 1, wherein when the parking space coordinate of the preset fixed parking space is a center point coordinate of the parking space, determining whether the detected parking space has the preset fixed parking space, specifically includes:
determining a coordinate value corresponding to the vehicle to be parked;
determining a coordinate value corresponding to a center point of each parking space according to the coordinate value and the identified position relationship between the parking spaces and the vehicle to be parked;
and determining the parking space with the distance between the central point and the central point of the fixed parking space not greater than the set distance as the fixed parking space according to the coordinate value corresponding to the central point of the fixed parking space stored in advance.
6. The method according to claim 3, wherein when the preset parking space coordinate of the fixed parking space is a center point coordinate of the parking space, determining the fixed parking space closest to the current position of the vehicle to be parked from the fixed parking spaces within the specified range of the current position of the vehicle to be parked specifically comprises:
determining coordinate values corresponding to the center points of all fixed parking places in a specified range of the current position of the vehicle to be parked, which are stored in advance, and coordinate values corresponding to the center points of the vehicle to be parked;
determining the time required for navigating from the central point of the vehicle to be parked to the central point of each fixed parking space according to the coordinate value corresponding to the central point of each fixed parking space and the coordinate value corresponding to the central point of the vehicle to be parked;
and determining the fixed parking space corresponding to the central point of the fixed parking space with the shortest navigation required time as the fixed parking space closest to the current position of the vehicle to be parked.
7. An automatic parking device, characterized by comprising:
the system comprises a determining module, a parking determining module and a parking determining module, wherein the determining module is used for determining whether a preset fixed parking space exists in the currently detected parking available parking spaces or not when an automatic parking request is received;
the control module is used for controlling the vehicle to be parked to park in the fixed parking space if the determining module determines that the fixed parking space exists in the parking spaces;
the determining module is further configured to determine whether a fixed parking space is set if it is determined that no fixed parking space exists in the currently detected parking spaces; if so, determining whether a fixed parking space exists in the specified range of the current position of the vehicle to be parked; if the fixed parking space exists in the appointed range of the current position of the vehicle to be parked, determining a fixed parking space;
the control module is also used for controlling the vehicle to be parked to drive the fixed parking space or indicating the route of the vehicle to be parked to drive the fixed parking space, detecting the parking space in real time, and controlling the vehicle to be parked to park in the fixed parking space when the fixed parking space is detected.
8. The apparatus according to claim 7, wherein the control module is specifically configured to control the vehicle to be parked to the fixed parking space according to a predetermined rule if the determination module determines that the number of the fixed parking spaces existing in the parking spaces is not less than one.
9. The device according to claim 7 or 8, wherein when a fixed parking space is preset, if the fixed parking space includes a pre-stored parking space coordinate, the determining module is specifically configured to determine whether a fixed parking space exists within an appointed range of a current location of the vehicle to be parked according to a distribution condition of the pre-stored fixed parking space corresponding to the parking space coordinate, and if it is determined that a fixed parking space exists within the appointed range of the current location of the vehicle to be parked, determine a fixed parking space closest to the current location of the vehicle to be parked from the fixed parking spaces within the appointed range of the current location of the vehicle to be parked.
10. The apparatus of claim 9, wherein the control module is further configured to control the vehicle to be parked to enter one of the available parking spaces according to a predetermined rule if the determination module determines that there is no fixed parking space within the specified range of the current location of the vehicle to be parked.
11. The apparatus according to claim 7, wherein when the parking space coordinate of the preset fixed parking space is a center point coordinate of the parking space, the determining module is configured to determine whether there is a preset fixed parking space in the currently detected parking space, and specifically includes:
determining a coordinate value corresponding to the vehicle to be parked; determining a coordinate value corresponding to a center point of each parking space according to the coordinate value and the identified position relationship between the parking spaces and the vehicle to be parked; and determining the parking space with the distance between the central point and the central point of the fixed parking space not greater than the set distance as the fixed parking space according to the coordinate value corresponding to the central point of the fixed parking space stored in advance.
12. The apparatus according to claim 9, wherein when the preset parking space coordinate of the fixed parking space is a center point coordinate of the parking space, the determining module is configured to determine, from the fixed parking spaces within the specified range of the current location of the vehicle to be parked, the fixed parking space closest to the current location of the vehicle to be parked, and specifically includes:
determining coordinate values corresponding to the center points of all fixed parking places in a specified range of the current position of the vehicle to be parked, which are stored in advance, and coordinate values corresponding to the center points of the vehicle to be parked; determining the time required for navigating from the central point of the vehicle to be parked to the central point of each fixed parking space according to the coordinate value corresponding to the central point of each fixed parking space and the coordinate value corresponding to the central point of the vehicle to be parked; and determining the fixed parking space corresponding to the central point of the fixed parking space with the shortest navigation required time as the fixed parking space closest to the current position of the vehicle to be parked.
13. A non-transitory computer storage medium storing an executable program for execution by a processor to perform the steps of the method of any one of claims 1 to 6.
14. An automatic parking apparatus comprising a memory, a processor and a computer program stored on the memory, wherein the processor when executing the program implements the steps of the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810330846.XA CN110371107B (en) | 2018-04-13 | 2018-04-13 | Automatic parking method, device, medium and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810330846.XA CN110371107B (en) | 2018-04-13 | 2018-04-13 | Automatic parking method, device, medium and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110371107A CN110371107A (en) | 2019-10-25 |
| CN110371107B true CN110371107B (en) | 2021-04-13 |
Family
ID=68243362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810330846.XA Active CN110371107B (en) | 2018-04-13 | 2018-04-13 | Automatic parking method, device, medium and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110371107B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979312B (en) * | 2019-12-11 | 2021-09-14 | 武汉乐庭软件技术有限公司 | Automatic parking method based on memory parking |
| JP6966529B2 (en) * | 2019-12-13 | 2021-11-17 | 本田技研工業株式会社 | Parking assistance devices, parking assistance methods, and programs |
| CN111923901B (en) * | 2020-07-31 | 2021-11-02 | 重庆长安汽车股份有限公司 | Short-range passenger-replacing automatic parking method and device and automobile |
| CN112172792A (en) * | 2020-09-15 | 2021-01-05 | 华人运通(上海)自动驾驶科技有限公司 | Fixed parking space parking method and device, vehicle and storage medium |
| CN112622881B (en) * | 2020-11-06 | 2023-05-23 | 浙江吉利控股集团有限公司 | Intelligent parking method, device, system, storage medium and vehicle |
| CN112572421B (en) * | 2020-12-30 | 2022-03-11 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device for vehicle, vehicle and storage medium |
| CN113353068A (en) * | 2021-07-26 | 2021-09-07 | 广州小鹏自动驾驶科技有限公司 | Parking control method, device, vehicle and medium |
| CN113715810A (en) * | 2021-10-15 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Parking method, parking device, vehicle and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102117549A (en) * | 2009-12-31 | 2011-07-06 | 北京众库传媒广告有限公司 | Carport guide system used for parking lot |
| JP2014146130A (en) * | 2013-01-28 | 2014-08-14 | Hitachi Systems Ltd | Vacant parking space guidance support system |
| CN106585626A (en) * | 2015-10-19 | 2017-04-26 | 北京汽车股份有限公司 | Automatic parking system and method |
| CN107074233A (en) * | 2014-10-27 | 2017-08-18 | 罗伯特·博世有限公司 | For the method for the automatic parking process for performing vehicle |
| CN107170275A (en) * | 2017-06-08 | 2017-09-15 | 太仓市智威智能科技有限公司 | A kind of parking lot automatic parking system |
| CN107393335A (en) * | 2017-08-07 | 2017-11-24 | 中智华清（北京）科技有限公司 | A kind of full-automatic shutdown system based on car plate sensing, parking management method |
-
2018
- 2018-04-13 CN CN201810330846.XA patent/CN110371107B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102117549A (en) * | 2009-12-31 | 2011-07-06 | 北京众库传媒广告有限公司 | Carport guide system used for parking lot |
| JP2014146130A (en) * | 2013-01-28 | 2014-08-14 | Hitachi Systems Ltd | Vacant parking space guidance support system |
| CN107074233A (en) * | 2014-10-27 | 2017-08-18 | 罗伯特·博世有限公司 | For the method for the automatic parking process for performing vehicle |
| CN106585626A (en) * | 2015-10-19 | 2017-04-26 | 北京汽车股份有限公司 | Automatic parking system and method |
| CN107170275A (en) * | 2017-06-08 | 2017-09-15 | 太仓市智威智能科技有限公司 | A kind of parking lot automatic parking system |
| CN107393335A (en) * | 2017-08-07 | 2017-11-24 | 中智华清（北京）科技有限公司 | A kind of full-automatic shutdown system based on car plate sensing, parking management method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110371107A (en) | 2019-10-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110371107B (en) | Automatic parking method, device, medium and equipment | |
| CN109767646B (en) | Parking method and device | |
| US10745050B2 (en) | Automated vehicle parking | |
| US9990849B2 (en) | Method and device for ascertaining a parking position for a vehicle | |
| CN109754639B (en) | Parking garage entry method and device | |
| CN106909153B (en) | Unmanned vehicle transverse control method and device | |
| KR101448786B1 (en) | Smart parking assistant system and parking balance method | |
| CN111907521B (en) | Transverse control method and device for automatic driving vehicle and storage medium | |
| CN108510783B (en) | Vehicle parking control method, system and device and vehicle | |
| US10565875B2 (en) | Apparatus and method for parking assist | |
| CN113428137B (en) | Parking control method and device and storage medium | |
| CN112595337A (en) | Obstacle avoidance path planning method and device, electronic device, vehicle and storage medium | |
| CN113096433A (en) | Autonomous parking method and device based on vehicle-road cooperation and storage medium | |
| US10490073B2 (en) | Concept for locating a body in the form of an object in a parking lot | |
| CN112172790B (en) | Control method and device for automatic parking and computer readable storage medium | |
| CN112363511A (en) | Vehicle path planning method and device, vehicle-mounted device and storage medium | |
| CN113903189B (en) | Parking space updating method, device and equipment of parking map | |
| CN112835350A (en) | Automatic parking method, device and system | |
| KR102085518B1 (en) | Apparatus for searching parking space and system for controlling auto parking with the said apparatus | |
| KR20160033524A (en) | Parking assist apparatus and method with parking mode selecting function | |
| CN111409646A (en) | Automatic driving control method, system, medium and vehicle-mounted terminal based on multi-mode identification | |
| EP4024367A1 (en) | Method and apparatus of automatic parking of vehicle, vehicle and storage medium | |
| CN114964287A (en) | Lane positioning method, computer device, computer-readable storage medium, and vehicle | |
| CN112721916A (en) | Parking control method and device | |
| CN116853288B (en) | Vehicle driving method and device, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |