CN110488280B - Method and device for correcting parking space profile, vehicle and storage medium - Google Patents

Method and device for correcting parking space profile, vehicle and storage medium Download PDF

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Publication number
CN110488280B
CN110488280B CN201910806959.7A CN201910806959A CN110488280B CN 110488280 B CN110488280 B CN 110488280B CN 201910806959 A CN201910806959 A CN 201910806959A CN 110488280 B CN110488280 B CN 110488280B
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parking space
point
real
vehicle
time position
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CN110488280A (en
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蓝鸿翔
张雪飞
蒋少峰
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Abstract

The embodiment of the invention relates to the technical field of parking, and discloses a method and a device for correcting a parking space outline, a vehicle and a storage medium, wherein the method comprises the following steps: after a parking space is scanned by a radar to obtain a first profile of the parking space, determining a plurality of boundary points on an axis corresponding to the vehicle pose by taking the first profile of the parking space and corner points of the first profile of the parking space as a basis; obtaining a corrected target parking space outline point according to the real-time position of the vehicle on the axis, the correction direction corresponding to the real-time position, the first parking space outline, the corner point and the scanning point scanned by the axis correction in real time; and acquiring a corrected second parking space outline according to the plurality of corrected parking space outline points. By implementing the embodiment of the invention, the more accurate parking space profile can be obtained, and the accuracy of parking the vehicle into the parking space can be further improved.

Description

Method and device for correcting parking space profile, vehicle and storage medium
Technical Field
The invention relates to the technical field of parking, in particular to a method and a device for correcting a parking space outline, a vehicle and a storage medium.
Background
Currently, in a parking process of a vehicle, a radar installed on the vehicle may be used to detect obstacles around the vehicle and determine position information of the obstacles, so as to determine a parking space profile and assist in parking the vehicle in the parking space. In practice, it is found that the parking process of the vehicle often has the condition of moving obliquely to the parking space, and when the vehicle moves obliquely to the obstacle, the obstacle position measured by the radar has an error with the actual position of the obstacle, so that the deviation exists between the parking space outline determined by the radar and the actual parking space outline, and the success rate of the vehicle parking into the parking space is reduced.
Disclosure of Invention
The embodiment of the invention discloses a method and a device for correcting a parking space profile, a vehicle and a storage medium, which can reduce the deviation between the parking space profile determined by using a radar and an actual parking space profile and improve the success rate of parking the vehicle into a parking space.
The first aspect of the embodiment of the invention discloses a method for correcting a parking space profile, which comprises the following steps:
after a parking space is scanned by a radar to obtain a first parking space outline, determining a plurality of boundary points on an axis corresponding to a vehicle pose by taking the first parking space outline and corner points of the first parking space outline as a basis;
obtaining a corrected target parking space outline point according to the real-time position of the vehicle on the axis, the correction direction corresponding to the real-time position, the parking space first outline, the corner point and the scanning point scanned by the axis correction in real time; the correction direction corresponding to the real-time position is determined according to the position relation between the real-time position and the plurality of demarcation points and the relative position between the vehicle and the parking space;
and acquiring a corrected second parking space outline according to the plurality of corrected parking space outline points.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the parking space is scanned by using the radar to obtain the first profile of the parking space, the determining, based on the first profile of the parking space and corner points of the first profile of the parking space, a plurality of boundary points on an axis corresponding to a vehicle pose includes:
if the first parking space outline obtained by scanning the parking space by using the radar is in a preset shape, determining corner points of the first parking space outline; the preset shape comprises an outer side edge which extends outwards at a right angle to the longitudinal edge of the parking space, and the corner point is the intersection point of the longitudinal edge and the outer side edge;
determining a plurality of boundary points on an axis corresponding to the vehicle pose by taking the first contour of the parking space and the corner points as the basis, wherein the plurality of boundary points at least comprise a first boundary point, a second boundary point and a third boundary point; the first boundary point is an intersection point of the axis and an extension line of the longitudinal edge, the second boundary point is a projection point of the corner point vertically projected to the axis, and the third boundary point is an intersection point of the axis and an extension line of the outer side edge.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the obtaining a corrected target parking space contour point according to the real-time position of the vehicle on the axis, the correction direction corresponding to the real-time position, the first parking space contour, the corner point, and the scanning point obtained by correcting the real-time scanning of the axis includes:
if the vehicle is located in front of the first demarcation point on the axis, correcting a first scanning point scanned in real time according to a first real-time position of the vehicle, a correction direction corresponding to the first real-time position and a first included angle to obtain a corrected first target parking space outline point; the size of the first included angle is equal to the size of an internal angle corresponding to the third dividing point in a triangle taking the first real-time position, the corner point and the third dividing point as vertexes;
if the vehicle is located between the first boundary point and the second boundary point on the axis, correcting a second scanning point scanned in real time according to a second real-time position of the vehicle, a correction direction corresponding to the second real-time position and a second included angle to obtain a corrected second target parking space outline point; the second included angle and a first specified included angle are complementary angles, and the first specified included angle is an internal angle corresponding to the second real-time position in a triangle with the second real-time position, the corner point and the third boundary point as vertexes;
if the vehicle is located between the second boundary point and the third boundary point on the axis, correcting a third scanning point scanned in real time according to a third real-time position of the vehicle, a correction direction corresponding to the third real-time position and a third included angle, and obtaining a corrected third target parking space outline point; and the size of the third included angle is equal to a second specified included angle minus ninety degrees, and the second specified included angle is an internal angle corresponding to the third real-time position in a triangle with the third real-time position, the corner point and the third boundary point as vertexes.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, before determining a plurality of demarcation points on the axis of the vehicle based on the first contour of the parking space and the corner points, the method further includes:
determining the relative position of the vehicle and the parking space;
determining a first correction direction and a second correction direction according to the relative orientation; wherein when the relative orientation indicates that the vehicle is positioned right-front of the parking space, the first correction direction is clockwise and the second correction direction is counterclockwise; when the relative orientation indicates that the vehicle is positioned in front of and to the left of the parking space, the first correction direction is counterclockwise and the second correction direction is clockwise;
after determining a plurality of demarcation points on the axis of the vehicle based on the first contour of the parking space and the corner points, the method further comprises:
determining a correction direction corresponding to the first real-time position as the first correction direction;
determining a correction direction corresponding to the second real-time position as the first correction direction;
and determining the correction direction corresponding to the third real-time position as the second correction direction.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, if the vehicle is located before the first boundary point on the axis, the correcting the first scanned point scanned in real time according to the first real-time position of the vehicle, the correction direction corresponding to the first real-time position, and the first included angle to obtain the corrected first target parking space contour point includes:
if the vehicle is located in front of the first demarcation point on the axis, rotating a first scanning point scanned in real time by a first included angle in the first correction direction by taking a first real-time position of the vehicle as a circle center to obtain a corrected first target parking space contour point;
if the vehicle is located between the first boundary point and the second boundary point on the axis, correcting a second scanning point scanned in real time according to a second real-time position of the vehicle, a correction direction corresponding to the second real-time position and a second included angle to obtain a corrected second target parking space contour point, including:
if the vehicle is located between the first boundary point and the second boundary point on the axis, rotating a second scanning point scanned in real time by a second included angle in the first correction direction by taking a second real-time position of the vehicle as a circle center to obtain a corrected second target parking space outline point;
if the vehicle is located between the second dividing point and the third dividing point on the axis, correcting a third scanning point scanned in real time according to a third real-time position of the vehicle, a correction direction corresponding to the third real-time position and a third included angle to obtain a corrected third target parking space outline point, including:
and if the vehicle is positioned between the second boundary point and the third boundary point on the axis, rotating a third scanning point scanned in real time by a third included angle in the second correction direction by taking the third real-time position of the vehicle as the center of a circle to obtain a corrected third target parking space outline point.
The second aspect of the embodiment of the present invention discloses a parking space profile correction device, including:
the parking space detection device comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining a plurality of boundary points on an axis corresponding to the vehicle pose by taking the first parking space profile and corner points of the first parking space profile as the basis after the parking space is scanned by a radar to obtain the first parking space profile;
the correction unit is used for correcting the scanning points scanned in real time according to the real-time position of the vehicle on the axis, the correction direction corresponding to the real-time position, the first parking space outline, the corner points and the axis to obtain corrected target parking space outline points; the correction direction corresponding to the real-time position is determined according to the position relation between the real-time position and the plurality of demarcation points and the relative position between the vehicle and the parking space;
and the acquisition unit is used for acquiring the corrected second parking space outline according to the plurality of corrected parking space outline points.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the first determining unit includes:
the parking space detection device comprises a first determining subunit, a second determining subunit and a control unit, wherein the first determining subunit is used for determining corner points of a first parking space outline obtained by scanning a parking space by using a radar when the first parking space outline is in a preset shape; the preset shape comprises an outer side edge which extends outwards at a right angle to the longitudinal edge of the parking space, and the corner point is the intersection point of the longitudinal edge and the outer side edge;
the second determining subunit is used for determining a plurality of demarcation points on an axis corresponding to the vehicle pose by taking the first contour of the parking space and the corner points as the basis, wherein the demarcation points at least comprise a first demarcation point, a second demarcation point and a third demarcation point; the first boundary point is an intersection point of the axis and an extension line of the longitudinal edge, the second boundary point is a projection point of the corner point vertically projected to the axis, and the third boundary point is an intersection point of the axis and an extension line of the outer side edge.
A third aspect of the embodiments of the present invention discloses a parking space profile correction device, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the method for correcting the parking space profile disclosed in the first aspect of the embodiment of the present invention.
A fourth aspect of the embodiment of the invention discloses a vehicle including the parking space contour correction apparatus disclosed in the second and third aspects of the embodiment of the invention.
A fifth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, where the computer program causes a computer to execute the method for correcting a parking space profile disclosed in the first aspect of the embodiments of the present invention.
A sixth aspect of the embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A seventh aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: determining a plurality of boundary points on an axis corresponding to the vehicle pose by taking the first profile of the parking space and the corner points of the first profile of the parking space as the basis, so that the parking process of the vehicle can be divided into a plurality of stages, and the adopted correction directions in different parking stages are different; in the parking process of the vehicle, the scanning points scanned in real time can be corrected by utilizing the real-time position of the vehicle, the correction direction corresponding to the real-time position, the first parking space outline, the corner points and the axis, so that the corrected parking space outline can be determined according to the plurality of corrected parking space outline points. Therefore, by implementing the embodiment of the invention, the scanned scanning points are corrected in the parking process, the corrected parking space outline points can be obtained, the more accurate parking space outline can be obtained, and the accuracy of parking the vehicle into the parking space can be further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an exemplary diagram for assisting in explaining a reason why a scanning point has a positional deviation, which is disclosed in an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a method for correcting a parking space profile according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating another method for correcting a parking space profile according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a parking space profile correction apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another parking space profile correction apparatus disclosed in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of another parking space profile correction apparatus according to an embodiment of the present invention;
FIG. 7 is an exemplary axial view of a first profile of a parking space and a vehicle pose according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a modified example of a scanning point when a vehicle is located before a first demarcation point according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating a modified example of scanning points when a vehicle is located between a first boundary point and a second boundary point according to an embodiment of the present invention;
fig. 10 is a diagram illustrating a modification example of a scanning point when a vehicle is located between a second boundary point and a third boundary point according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third" and "fourth" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a method and a device for correcting a parking space profile, a vehicle and a storage medium, which can reduce the deviation between the parking space profile determined by using a radar and an actual parking space profile and improve the success rate of parking the vehicle into a parking space. The following detailed description is made with reference to the accompanying drawings.
Example one
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a method for correcting a parking space profile according to an embodiment of the present invention. As shown in fig. 2, the method for correcting the parking space profile may include the following steps.
201. After the vehicle scans the parking space by using the radar to obtain the first profile of the parking space, a plurality of demarcation points are determined on the axis corresponding to the vehicle pose by taking the first profile of the parking space and the corner points of the first profile of the parking space as the basis.
The embodiment of the present invention may be implemented by a vehicle-mounted computer system on a vehicle, specifically, the vehicle-mounted computer system may include a correction device for a parking space profile, and in addition, the embodiment of the present invention may also be implemented by other control systems/devices, and the embodiment of the present invention is not limited.
In the embodiment of the present invention, it can be understood that the radar is an electronic device that detects a target using electromagnetic waves or ultrasonic waves, and the like, and in the embodiment of the present invention, the radar is mainly used for scanning surrounding obstacles and feeding back position information of the obstacles, and specifically may be a car backing radar, a laser radar, and the like, and the embodiment of the present invention is not limited. The car backing radar generally comprises an ultrasonic sensor, a controller, a display or a buzzer and the like, wherein the ultrasonic sensor is mainly used for sending and receiving ultrasonic signals, the controller processes the signals, the distance and the direction between a vehicle and an obstacle are calculated, and when the sensor detects that the distance between the vehicle and the obstacle reaches a dangerous distance, the display and/or the buzzer sends out an alarm to remind a driver. The laser radar is generally composed of a transmitting system, a receiving system, an information processing system and the like, wherein the transmitting system converts electric pulses into optical pulses to be transmitted, the receiving system restores the optical pulses reflected from the obstacles into the electric pulses, and the information processing system calculates according to a laser ranging principle to obtain the distance from the laser radar to the obstacles.
In the embodiment of the invention, the axis corresponding to the vehicle pose is the axis where the vehicle pose is located when the vehicle scans the parking space by using the radar. For example, referring to fig. 7, fig. 7 is an exemplary diagram of a first parking space profile and an axis corresponding to a vehicle pose, where a straight line L is the axis corresponding to the vehicle pose, an FEDC is the first parking space profile obtained by scanning a parking space with a radar, and a point E is a corner point of the first parking space profile. In the embodiment of the invention, the parking process can be divided into a plurality of stages by determining a plurality of boundary points on the straight line L by making intersecting lines, making vertical lines or other modes according to the corner points E and the first outlines FEDC of the parking spaces.
202. And the vehicle corrects the scanned points in real time according to the real-time position of the vehicle on the axis, the correction direction corresponding to the real-time position, the first parking space outline, the corner points and the scanning points obtained by correcting the real-time scanning on the axis, so as to obtain corrected target parking space outline points, wherein the correction direction corresponding to the real-time position is determined according to the position relation between the real-time position and a plurality of boundary points and the relative direction between the vehicle and the parking space.
In the embodiment of the present invention, it can be understood that, considering that the volume of the vehicle is relatively large relative to the scanning point, the scanning point is generally obtained by scanning with the radar in the embodiment of the present invention, and therefore, the real-time position is generally determined according to the installation position of the radar in the vehicle, and in addition, the positions of other small components in the vehicle can be selected according to the requirements of actual situations to determine the real-time position.
In the embodiment of the invention. The scanning point scanned in real time is a position of an obstacle which is hit by ultrasonic waves, laser beams, or the like emitted by the radar, and the ultrasonic waves, the laser beams, or the like are reflected at the scanning point.
Referring to fig. 1, fig. 1 is an exemplary diagram for assisting in explaining a reason why a scanning point has a position deviation according to an embodiment of the present invention. As shown in fig. 1, the FED is a parking space profile, and the sector area is a scanning area, i.e., a beam angle, of the radar at the rear right of the vehicle. It will be appreciated that during the process of parking the vehicle in the direction of the parking space, the scanned points in the radar beam angle range will be projected onto the central axis of the beam angle, resulting in a certain error in the position of the finally determined scanned point, for example, point a1 will be projected onto point a 2. It can be further appreciated that during movement of the vehicle obliquely to the parking space, the parking space profile determined by the radar will be in the shape of line L2 in fig. 1, rather than the actual parking space profile line L1. Therefore, the scanned points in the radar beam angle range are projected onto the central axis of the beam angle, and the direction deviation between the actual parking space outline and the central axis of the beam angle changes along with the movement of the vehicle, so that the deviation exists between the parking space outline determined by the radar and the actual parking space outline; in fig. 1, the vehicle starts to park from the right front of the parking space, and if the vehicle starts to reverse from the left front of the parking space, the actual parking space contour point and the direction deviation of the beam angle central axis are also different; therefore, in the parking process of the vehicle, the correction direction to be adopted when the scanning point is corrected is determined by combining the relative direction of the vehicle and the parking space and the real-time position of the vehicle on the axis, so that the corrected target parking space contour point is closer to the actual parking space contour point corresponding to the scanning point, and the accuracy rate is improved.
203. And the vehicle acquires the corrected second parking space outline according to the plurality of corrected parking space outline points.
In the embodiment of the present invention, it can be understood that, through step 201 and step 202, the correction device can obtain a plurality of corrected parking space contour points, which are generally discrete, and may perform curve fitting on the plurality of corrected parking space contour points or perform processing in other manners, so as to obtain a corrected parking space second contour, which is closer to an actual parking space contour than the parking space first contour.
Therefore, by implementing the method described in fig. 2, the scanned scanning points are corrected in the parking process, so that corrected parking space contour points can be obtained, a more accurate parking space contour can be obtained, and the accuracy of parking the vehicle into the parking space can be improved.
Example two
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating another method for correcting a parking space profile according to an embodiment of the present invention. As shown in fig. 3, the method for correcting the parking space profile may include the following steps.
301. If the first parking space outline obtained by scanning the parking space by using the radar is in a preset shape, the vehicle determines the corner points of the first parking space outline.
In the embodiment of the invention, the preset shape comprises an outer side edge which extends outwards at a right angle with the longitudinal edge of the parking space, and the corner point is the intersection point of the longitudinal edge and the outer side edge.
For example, referring to fig. 8, fig. 8 is an exemplary diagram of a correction of a scanning point when a vehicle is located before a first boundary point according to an embodiment of the present invention, where a first parking space profile FEDC is an exemplary shape of the preset shape, DE in the first parking space profile FEDC is a longitudinal edge of a parking space, EF is an outer edge representing the parking space, and an intersection E between the longitudinal edge and the outer edge is a corner point of the first parking space profile.
302. The vehicle uses the first contour and the corner point of the parking space as a basis to determine a plurality of demarcation points on the axis corresponding to the vehicle pose, and the demarcation points at least comprise a first demarcation point, a second demarcation point and a third demarcation point.
In the embodiment of the invention, the first boundary point is an intersection point of the axis and the extension line of the longitudinal edge, and the second boundary point isIs a projection point of the corner point vertically projected to the axis, and the third boundary point is an intersection point of the axis and the extension line of the outer side edge, see fig. 8, a1Is a first demarcation point, A2Is a second demarcation point, A3Is the third demarcation point.
By implementing steps 301 to 302, a common parking space shape shown in fig. 8 may be set as a preset shape, and a boundary division manner corresponding to the preset shape and the like are planned in advance, so that when the first contour of the parking space is determined to be the preset shape, the corresponding boundary division manner can be called quickly, accuracy is high, and correction efficiency can be improved.
303. If the vehicle is located in front of the first demarcation point on the axis, the vehicle corrects the first scanning point scanned in real time according to the first real-time position of the vehicle, the correction direction corresponding to the first real-time position and the first included angle, and a corrected first target parking space outline point is obtained; the size of the first included angle is equal to the size of an internal angle corresponding to a third boundary point in a triangle taking the first real-time position, the corner point and the third boundary point as vertexes.
For example, please refer to FIG. 8, point K1Is the first real-time position, P1Is the first scanning point, α1Is a first angle, Q1Is a first target parking space contour point. It will be appreciated that when the vehicle is located before the first demarcation point on the axis, the vehicle is further from the parking space and the radar will be at K in the beam angle1Scanning the obstacle in the direction vertical to EF and projecting the obstacle onto the central axis of the beam angle to obtain a first scanning point P1According to the nature and theorem of the similar triangle, the angle alpha can be known1The size of the first included angle is equal to the size of an internal angle corresponding to a third boundary point in a triangle with the first real-time position, the corner point and the third boundary point as vertexes.
304. If the vehicle is located between the first boundary point and the second boundary point on the axis, the vehicle corrects a second scanning point scanned in real time according to a second real-time position of the vehicle, a correction direction corresponding to the second real-time position and a second included angle, and a corrected second target parking space outline point is obtained; the second included angle and the first specified included angle are complementary angles, and the first specified included angle is an internal angle corresponding to the second real-time position in a triangle with the second real-time position, the corner point and the third boundary point as vertexes.
For example, please refer to fig. 9, fig. 9 is a diagram illustrating a modification of a scanning point when a vehicle is located between a first boundary point and a second boundary point, point K2Is the second real-time position, P2Is the second scanning point, α2Is a second angle, beta1Is a first specified included angle, Q2Is a second target parking space contour point. It can be understood that when the vehicle is located between the first and second demarcation points on the axis, the left side of the beam angle of the radar will scan the obstacle and project it onto the central axis of the beam angle to obtain the second scanning point P2. Setting the included angle between the axis and the EF of the outer side edge of the first profile of the parking space as theta, and taking A as3E is the radius, and the length is r, then the formula for ME can be as follows:
Figure BDA0002183947560000111
Figure BDA0002183947560000112
Figure BDA0002183947560000113
α2the calculation process of (c) may be as follows: origin at E point, EA3Is x-axis, EA1Establishing a coordinate system for the y-axis with A3K2E is a triangular shape formed by vertexes, A3E is a radius, and a second real-time position K can be calculated through coordinates of the point2The distance to the circle center is A3K2Similarly, K can be calculated by coordinates2E length; knowing that three sides of the triangle can obtain the included angle corresponding to the three sides, alpha2The calculation formula is as follows:
Figure BDA0002183947560000114
Figure BDA0002183947560000115
Figure BDA0002183947560000116
Figure BDA0002183947560000117
Figure BDA0002183947560000118
as can be seen, the second included angle α2At a first prescribed angle beta1Are complementary angles to each other.
305. If the vehicle is located between the second boundary point and the third boundary point on the axis, the vehicle corrects a third scanning point scanned in real time according to a third real-time position of the vehicle, a correction direction corresponding to the third real-time position and a third included angle, and a corrected third target parking space outline point is obtained; the size of the third included angle is equal to a value obtained by subtracting ninety degrees from a second specified included angle, and the second specified included angle is an internal angle corresponding to a third real-time position in a triangle with the third real-time position, the corner point and the third boundary point as vertexes.
For example, referring to fig. 10, fig. 10 is a diagram illustrating a correction example of a scanning point when a vehicle is located between a second boundary point and a third boundary point, point K3Is the third real-time position, P3Is a third scanning point, α3Is a third angle, beta2For the second specified angle, Q3Is a third target parking space contour point. It will be appreciated that when the vehicle is located between the second and third demarcation points on the axis, the radar will scan for obstacles to the right of its beam angle and project themTo the central axis of the beam angle to obtain a third scanning point P3. Setting the included angle between the axis and the EF of the outer side edge of the first profile of the parking space as theta, and taking A as3E is the radius, and the length is r, then the formula for ME can be as follows:
Figure BDA0002183947560000121
Figure BDA0002183947560000122
Figure BDA0002183947560000123
and alpha2The same principle applies to the calculation process of3The calculation process of (c) may be as follows: origin at E point, EA3Is x-axis, EA1Establishing a coordinate system for the y-axis with A3K2E is a triangular shape formed by vertexes, A3E is a radius, and a third real-time position K can be calculated through coordinates of points3The distance to the circle center is A3K3Similarly, K can be calculated by coordinates3E length; knowing three sides of the triangle, the included angle corresponding to the three sides can be obtained due to beta2Is an obtuse angle, then alpha3The calculation formula is as follows:
Figure BDA0002183947560000124
Figure BDA0002183947560000125
Figure BDA0002183947560000126
Figure BDA0002183947560000127
Figure BDA0002183947560000128
combining the shape of the parking space, the real-time relative position of the vehicle and the parking space and the fact that the scanned points in the radar beam angle range are projected to the central axis of the beam angle, it can be known that when the vehicle is at different positions on the axis, the errors of the scanned scanning points and the actual parking space contour points are different, the steps 303 to 305 are implemented, the parking process is divided into three stages through the dividing points, and each stage adopts a scanning point correction mode which is suitable for the stage, so that the obtained target parking contour points are more accurate.
As an optional implementation manner, before step 302, the method for correcting the parking space profile may further include the following steps:
determining the relative direction of the vehicle and the parking space, and determining a first correction direction and a second correction direction according to the relative direction; when the relative direction indicates that the vehicle is positioned at the right front of the parking space, the first correction direction is clockwise, and the second correction direction is anticlockwise; when the relative orientation indicates that the vehicle is positioned at the left front of the parking space, the first correction direction is anticlockwise, and the second correction direction is clockwise; and, after step 302, determining the correction direction corresponding to the first real-time position as a first correction direction; determining a correction direction corresponding to the second real-time position as a first correction direction; and determining the correction direction corresponding to the third real-time position as a second correction direction.
It can be understood that the correction processes shown in fig. 8, 9 and 10 correspond to a situation where the vehicle is located at the right front of the parking space, and therefore, it can be seen that the correction direction corresponding to the first real-time position in fig. 8 is clockwise, the correction direction corresponding to the second real-time position in fig. 9 is clockwise, and the correction direction corresponding to the third real-time position in fig. 10 is counterclockwise.
Further optionally, step 303 may include:
if the vehicle is located in front of the first demarcation point on the axis, rotating the first scanning point scanned in real time by a first included angle in a first correction direction by taking the first real-time position of the vehicle as the center of a circle to obtain a corrected first target parking space outline point;
and, step 304 may include:
if the vehicle is located between the first boundary point and the second boundary point on the axis, rotating a second scanning point scanned in real time by a second included angle in a first correction direction by taking a second real-time position of the vehicle as a circle center to obtain a corrected second target parking space outline point;
and, step 305 may include:
and if the vehicle is positioned between the second boundary point and the third boundary point on the axis, rotating a third scanning point scanned in real time by a third included angle in a second correction direction by taking the third real-time position of the vehicle as the center of a circle to obtain a corrected third target parking space outline point.
It can be understood that the error between the scanning point described by the radar and the actual parking space outline point mainly lies in the error of the direction, so that the scanning point only needs to rotate according to the correction direction by taking the real-time position of the vehicle as the center of a circle, and the more accurate parking space can be obtained.
Therefore, the implementation of the embodiment can detect the relative direction of the vehicle and the parking space, determine the correction direction adopted by the current actual scene, and has high intelligence degree without manual input; in addition, the scanning point is corrected in a rotating mode, the fact that the measuring distance between the scanning point and a vehicle is unchanged is guaranteed, and the method is convenient and fast.
306. And the vehicle acquires the corrected second parking space outline according to the plurality of corrected parking space outline points.
Therefore, by implementing the method described in fig. 3, the scanned scanning points are corrected in the parking process, so that corrected parking space contour points can be obtained, a more accurate parking space contour can be obtained, and the accuracy of parking the vehicle into the parking space can be improved. In addition, when the parking space is in a preset shape, the parking process is directly divided into three stages through three dividing points, the accuracy is high, and the correction efficiency can be accelerated. In addition, the parking process is divided into three stages through the dividing points, and each stage adopts a scanning point correction mode which is adaptive to the stage, so that the obtained target parking contour point is more accurate. In addition, the correction direction which should be adopted by the current actual scene can be determined, manual operation is not needed, and the intelligent degree is high; in addition, the scanning point is corrected in a rotating mode, the fact that the measuring distance between the scanning point and a vehicle is unchanged is guaranteed, and the method is convenient and fast.
EXAMPLE III
Referring to fig. 4, fig. 4 is a schematic structural diagram of a parking space contour correction apparatus according to an embodiment of the present invention. The parking space profile correction device is applied to a vehicle, so that the vehicle can execute any one of the parking space profile correction methods shown in fig. 2-3. As shown in fig. 4, the parking space profile correction apparatus may include:
the first determining unit 401 is configured to determine, after a parking space is scanned by using a radar to obtain a first parking space profile, a plurality of boundary points on an axis corresponding to a vehicle pose based on the first parking space profile and corner points of the first parking space profile;
a correction unit 402, configured to correct a scanned point scanned in real time according to a real-time position of a vehicle on an axis, a correction direction corresponding to the real-time position, a first parking space contour, a corner point, and an axis, and obtain a corrected target parking space contour point; the correction direction corresponding to the real-time position is determined according to the position relation between the real-time position and a plurality of demarcation points and the relative position between the vehicle and the parking space;
an obtaining unit 403, configured to obtain a modified parking space second contour from the plurality of modified parking space contour points.
It can be seen that, by implementing the correction device for the parking space profile described in fig. 4, the scanned scanning points are corrected in the parking process, so that the corrected parking space profile points can be obtained, a more accurate parking space profile can be obtained, and the accuracy of parking the vehicle into the parking space can be improved.
Example four
Referring to fig. 5, fig. 5 is a schematic structural diagram of another parking space contour correction apparatus according to an embodiment of the present invention. The parking space profile correction device is applied to a vehicle, so that the vehicle can execute any one of the parking space profile correction methods shown in fig. 2-3. The parking space contour correction device shown in fig. 5 is optimized by the parking space contour correction device shown in fig. 4. Compared with the parking space profile correction apparatus shown in fig. 4, the parking space profile correction apparatus shown in fig. 5 includes:
the first determination unit 401 may include:
the first determining sub-unit 4011 is configured to determine corner points of a first profile of a parking space, where the first profile of the parking space is obtained by scanning the parking space with a radar and is a preset shape; the preset shape comprises an outer side edge extending outwards at a right angle to the longitudinal edge of the parking space, and the corner point is an intersection point of the longitudinal edge and the outer side edge;
the second determining sub-unit 4012 determines a plurality of demarcation points on the axis corresponding to the vehicle pose based on the first contour and the corner points of the parking space, wherein the plurality of demarcation points at least comprise a first demarcation point, a second demarcation point and a third demarcation point; the first boundary point is an intersection point of the axis and the extension line of the longitudinal edge, the second boundary point is a projection point of the corner point vertically projected to the axis, and the third boundary point is an intersection point of the axis and the extension line of the outer side edge.
The correction unit 402 may include:
the first correction subunit 4021 is configured to correct the first scanning point scanned in real time according to the first real-time position of the vehicle, a correction direction corresponding to the first real-time position, and the first included angle when the vehicle is located before the first demarcation point on the axis, and obtain a corrected first target parking space contour point; the size of the first included angle is equal to the size of an internal angle corresponding to a third boundary point in a triangle with the first real-time position, the corner point and the third boundary point as vertexes;
the second correction subunit 4022 is configured to correct the second scanning point scanned in real time according to the second real-time position of the vehicle, the correction direction corresponding to the second real-time position, and the second included angle when the vehicle is located between the first boundary point and the second boundary point on the axis, and obtain a corrected second target parking space contour point; the second included angle and the first specified included angle are complementary angles, and the first specified included angle is an internal angle corresponding to a second real-time position in a triangle with the second real-time position, the corner point and the third boundary point as vertexes;
the third correcting subunit 4023 is configured to correct the third scanning point scanned in real time according to the third real-time position of the vehicle, a correction direction corresponding to the third real-time position, and a third included angle when the vehicle is located between the second dividing point and the third dividing point on the axis, and obtain a corrected third target parking space contour point; the size of the third included angle is equal to a value obtained by subtracting ninety degrees from a second specified included angle, and the second specified included angle is an internal angle corresponding to a third real-time position in a triangle with the third real-time position, the corner point and the third boundary point as vertexes.
As an alternative embodiment, the apparatus for correcting the parking space profile shown in fig. 5 may further include:
a second determining unit 404, configured to determine, before determining a plurality of demarcation points on the basis of the first contour and the corner points of the parking space on the axis of the vehicle, a relative position between the vehicle and the parking space;
a second determining unit 404, configured to determine a first correction direction and a second correction direction according to the relative orientation; when the relative direction indicates that the vehicle is positioned at the right front of the parking space, the first correction direction is clockwise, and the second correction direction is anticlockwise; when the relative orientation indicates that the vehicle is positioned at the left front of the parking space, the first correction direction is anticlockwise, and the second correction direction is clockwise;
a third determining unit 405, configured to determine, on the axis of the vehicle, a plurality of demarcation points based on the first contour and the corner points of the parking space, and then determine a correction direction corresponding to the first real-time position as a first correction direction;
a third determining unit 405, configured to determine that the correction direction corresponding to the second real-time position is the first correction direction;
the third determining unit 405 is further configured to determine the correction direction corresponding to the third real-time position as the second correction direction.
Further optionally, when the vehicle is located before the first dividing point on the axis, the first correcting subunit 4021 is configured to correct the first scanning point scanned in real time according to the first real-time position of the vehicle, the correction direction corresponding to the first real-time position, and the first included angle, and a manner of obtaining the corrected first target parking space contour point specifically is as follows:
the first correction subunit 4021 is configured to, when the vehicle is located before the first dividing point on the axis, rotate the first scanning point scanned in real time by a first included angle in a first correction direction with a first real-time position of the vehicle as a center of a circle, and obtain a corrected first target parking space contour point;
the second correcting subunit 4022 is configured to, when the vehicle is located between the first dividing point and the second dividing point on the axis, correct the second scanning point scanned in real time according to the second real-time position of the vehicle, the correction direction corresponding to the second real-time position, and the second included angle, and obtain a corrected second target parking space contour point specifically:
the second correction subunit 4022 is configured to, when the vehicle is located between the first boundary point and the second boundary point on the axis, rotate the second scanning point scanned in real time by a second included angle in the first correction direction with the second real-time position of the vehicle as a center of circle, and obtain a corrected second target parking space contour point;
the third correcting subunit 4023 is configured to, when the vehicle is located between the second dividing point and the third dividing point on the axis, correct the third scanning point scanned in real time according to the third real-time position of the vehicle, the correction direction corresponding to the third real-time position, and the third included angle, and obtain a corrected third target parking space contour point in a specific manner:
and the third correcting subunit 4023 is configured to, when the vehicle is located between the second dividing point and the third dividing point on the axis, rotate a third scanning point scanned in real time by a third included angle in the second correcting direction with the third real-time position of the vehicle as a center of circle, and obtain a corrected third target parking space contour point.
Therefore, by implementing the embodiment, the correction device can detect the relative direction of the vehicle and the parking space, determine the correction direction to be adopted by the current actual scene, do not need manual input, and have high intelligence degree; in addition, the scanning point is corrected in a rotating mode, the fact that the measuring distance between the scanning point and a vehicle is unchanged is guaranteed, and the method is convenient and fast.
It can be seen that, by implementing the correction device for the parking space profile described in fig. 5, the scanned scanning points are corrected in the parking process, so that the corrected parking space profile points can be obtained, a more accurate parking space profile can be obtained, and the accuracy of parking the vehicle into the parking space can be improved. In addition, when the parking space is in a preset shape, the parking process is directly divided into three stages through three dividing points, the accuracy is high, and the correction efficiency can be accelerated. In addition, the parking process is divided into three stages through the dividing points, and each stage adopts a scanning point correction mode which is adaptive to the stage, so that the obtained target parking contour point is more accurate. In addition, the correction device can determine the correction direction to be adopted by the current actual scene, manual operation is not needed, and the intelligent degree is high; in addition, the scanning point is corrected in a rotating mode, the fact that the measuring distance between the scanning point and a vehicle is unchanged is guaranteed, and the method is convenient and fast.
EXAMPLE five
Referring to fig. 6, fig. 6 is a schematic structural diagram of another parking space contour correction apparatus according to an embodiment of the present invention. As shown in fig. 6, the parking space profile correction apparatus may include:
a memory 601 in which executable program code is stored;
a processor 602 coupled to a memory 601;
the processor 602 calls the executable program code stored in the memory 601 to execute the method for correcting the parking space profile shown in any one of fig. 2 to 3.
The embodiment of the invention discloses a vehicle which comprises a correction device for a parking space outline in any one of figures 4-6.
The embodiment of the invention also discloses a computer readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any one of the method for correcting the parking space outline in the figures 2-3.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
The embodiment of the present invention also discloses an application publishing platform, which is used for publishing a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The parking space profile correction method and device, the vehicle and the storage medium disclosed in the embodiments of the present invention are described in detail above, and a specific example is applied in the present disclosure to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (8)

1. A method for modifying a parking space profile, the method comprising:
after a parking space is scanned by a radar to obtain a first parking space outline, determining a plurality of boundary points on an axis corresponding to a vehicle pose by taking the first parking space outline and corner points of the first parking space outline as a basis; the corner point is an intersection point of the longitudinal edge and the outer side edge of the parking space, and the outer side edge is the outer side edge which extends outwards at a right angle from the longitudinal edge of the parking space; the plurality of demarcation points at least comprise a first demarcation point, a second demarcation point and a third demarcation point; the first boundary point is an intersection point of the axis and an extension line of the longitudinal edge, the second boundary point is a projection point of the corner point vertically projected to the axis, and the third boundary point is an intersection point of the axis and an extension line of the outer side edge;
obtaining a corrected target parking space outline point according to the real-time position of the vehicle on the axis, the correction direction and the included angle corresponding to the real-time position, the first parking space outline, the corner point and the scanning point scanned by the axis correction in real time; the correction direction corresponding to the real-time position is determined according to the position relation between the real-time position and the plurality of demarcation points and the relative position between the vehicle and the parking space;
wherein the real-time location of the vehicle on the axis includes a first real-time location, a second real-time location, and a third real-time location; the correction direction corresponding to the first real-time position is a first correction direction, the correction direction corresponding to the second real-time position is the first correction direction, and the correction direction corresponding to the third real-time position is a second correction direction; when the relative orientation indicates that the vehicle is located right-front of the parking space, the first correction direction is clockwise and the second correction direction is counterclockwise; when the relative orientation indicates that the vehicle is positioned in front of and to the left of the parking space, the first correction direction is counterclockwise and the second correction direction is clockwise;
acquiring a corrected second parking space outline according to the corrected target parking space outline points;
if the vehicle is located in front of the first demarcation point on the axis, the included angle is equal to the internal angle corresponding to the third demarcation point in a triangle taking the first real-time position, the corner point and the third demarcation point as vertexes; the method for obtaining a corrected first target parking space contour point according to a first real-time position of a vehicle, a correction direction corresponding to the first real-time position and a first included angle correction real-time scanned first scanning point comprises the following steps: rotating a first scanning point scanned in real time by a first included angle in the first correction direction by taking a first real-time position of the vehicle as a circle center to obtain a corrected first target parking space contour point;
if the vehicle is located between the first boundary point and the second boundary point on the axis, the included angle and a first specified included angle are complementary angles, and the first specified included angle is an internal angle corresponding to the second real-time position in a triangle with the second real-time position, the corner point and the third boundary point as vertexes; according to a second real-time position of the vehicle, a correction direction corresponding to the second real-time position and a second included angle, correcting a second scanning point scanned in real time to obtain a corrected second target parking space outline point, comprising: rotating a second scanning point scanned in real time by a second included angle in the first correction direction by taking a second real-time position of the vehicle as a circle center to obtain a corrected second target parking space contour point;
if the vehicle is located between the second demarcation point and the third demarcation point on the axis, the included angle is equal to a second designated included angle minus ninety degrees, and the second designated included angle is an internal angle corresponding to the third real-time position in a triangle with the third real-time position, the corner point and the third demarcation point as vertexes; correcting a third scanning point scanned in real time according to a third real-time position of the vehicle, a correction direction corresponding to the third real-time position and a third included angle to obtain a corrected third target parking space contour point, comprising: and rotating a third scanning point scanned in real time by a third included angle in the second correction direction by taking a third real-time position of the vehicle as a circle center to obtain a corrected third target parking space outline point.
2. The method according to claim 1, wherein after the parking space first contour is obtained by scanning the parking space with the radar, determining a plurality of demarcation points on an axis corresponding to the vehicle pose based on the parking space first contour and corner points of the parking space first contour, comprises:
if the first parking space outline obtained by scanning the parking space by using the radar is in a preset shape, determining corner points of the first parking space outline; wherein the predetermined shape includes an outer edge extending outwardly at a right angle to a longitudinal edge of the parking space;
and determining a plurality of demarcation points on the axis corresponding to the vehicle pose by taking the first contour of the parking space and the corner points as the basis.
3. The method of claim 2, wherein before determining the plurality of demarcation points based on the first contour of the parking space and the corner points on the vehicle axis, the method further comprises:
determining the relative position of the vehicle and the parking space;
determining the first correction direction and the second correction direction according to the relative orientation;
after determining a plurality of demarcation points on the axis of the vehicle based on the first contour of the parking space and the corner points, the method further comprises:
determining a correction direction corresponding to the first real-time position as the first correction direction;
determining a correction direction corresponding to the second real-time position as the first correction direction;
and determining the correction direction corresponding to the third real-time position as the second correction direction.
4. A parking space profile correction apparatus, characterized in that the correction apparatus comprises:
the parking space detection device comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining a plurality of boundary points on an axis corresponding to the vehicle pose by taking the first parking space profile and corner points of the first parking space profile as the basis after the parking space is scanned by a radar to obtain the first parking space profile; the corner point is an intersection point of the longitudinal edge and the outer side edge of the parking space, and the outer side edge is the outer side edge which extends outwards at a right angle from the longitudinal edge of the parking space; the plurality of demarcation points at least comprise a first demarcation point, a second demarcation point and a third demarcation point; the first boundary point is an intersection point of the axis and an extension line of the longitudinal edge, the second boundary point is a projection point of the corner point vertically projected to the axis, and the third boundary point is an intersection point of the axis and an extension line of the outer side edge;
the correction unit is used for correcting a scanning point scanned in real time according to the real-time position of the vehicle on the axis, the correction direction and the included angle corresponding to the real-time position, the first parking space outline, the corner point and the axis to obtain a corrected target parking space outline point; the correction direction corresponding to the real-time position is determined according to the position relation between the real-time position and the plurality of demarcation points and the relative position between the vehicle and the parking space;
wherein the real-time location of the vehicle on the axis includes a first real-time location, a second real-time location, and a third real-time location; the correction direction corresponding to the first real-time position is a first correction direction, the correction direction corresponding to the second real-time position is the first correction direction, and the correction direction corresponding to the third real-time position is a second correction direction; when the relative orientation indicates that the vehicle is located right-front of the parking space, the first correction direction is clockwise and the second correction direction is counterclockwise; when the relative orientation indicates that the vehicle is positioned in front of and to the left of the parking space, the first correction direction is counterclockwise and the second correction direction is clockwise;
an obtaining unit, configured to obtain a corrected second parking space profile according to the plurality of corrected target parking space profile points;
if the vehicle is located in front of the first demarcation point on the axis, the included angle is equal to the internal angle corresponding to the third demarcation point in a triangle taking the first real-time position, the corner point and the third demarcation point as vertexes; the first determining unit is specifically configured to rotate a first scanning point scanned in real time by a first included angle in the first correction direction with a first real-time position of the vehicle as a center of a circle, so as to obtain a corrected first target parking space contour point;
if the vehicle is located between the first boundary point and the second boundary point on the axis, the included angle and a first specified included angle are complementary angles, and the first specified included angle is an internal angle corresponding to the real-time position in a triangle with the real-time position, the corner point and the third boundary point as vertexes; the first determining unit is specifically configured to rotate a second scanning point scanned in real time by a second included angle in the first correction direction with a second real-time position of the vehicle as a center of a circle, so as to obtain a corrected second target parking space contour point;
if the vehicle is located between the second demarcation point and the third demarcation point on the axis, the included angle is equal to a second designated included angle minus ninety degrees, and the second designated included angle is an internal angle corresponding to the real-time position in a triangle with the real-time position, the corner point and the third demarcation point as vertexes; the first determining unit is specifically configured to rotate a third scanning point scanned in real time by a third included angle in the second correction direction with a third real-time position of the vehicle as a center of circle, so as to obtain a corrected third target parking space contour point.
5. Correction device according to claim 4,
the first determination unit includes:
the parking space detection device comprises a first determining subunit, a second determining subunit and a control unit, wherein the first determining subunit is used for determining corner points of a first parking space outline obtained by scanning a parking space by using a radar when the first parking space outline is in a preset shape; wherein the predetermined shape includes an outer edge extending outwardly at a right angle to a longitudinal edge of the parking space;
and the second determining subunit is used for determining a plurality of demarcation points on the axis corresponding to the vehicle pose by taking the first contour of the parking space and the corner points as the basis.
6. A parking space profile correction apparatus, characterized in that the correction apparatus comprises:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the method for correcting the parking space profile according to any one of claims 1 to 3.
7. A vehicle, characterized in that it comprises a device for the correction of the parking space profile as claimed in any one of claims 4 to 6.
8. A computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the method for correcting a parking space profile according to any one of claims 1 to 3.
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