CN111830967B - Method, apparatus, computer device and storage medium for determining parking area - Google Patents

Method, apparatus, computer device and storage medium for determining parking area Download PDF

Info

Publication number
CN111830967B
CN111830967B CN202010504762.0A CN202010504762A CN111830967B CN 111830967 B CN111830967 B CN 111830967B CN 202010504762 A CN202010504762 A CN 202010504762A CN 111830967 B CN111830967 B CN 111830967B
Authority
CN
China
Prior art keywords
points
parking
point
line
edge line
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
Application number
CN202010504762.0A
Other languages
Chinese (zh)
Other versions
CN111830967A (en
Inventor
卢天明
陈宏润
崔宇光
韩旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Weride Technology Co Ltd
Original Assignee
Guangzhou Weride Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou Weride Technology Co Ltd filed Critical Guangzhou Weride Technology Co Ltd
Priority to CN202010504762.0A priority Critical patent/CN111830967B/en
Publication of CN111830967A publication Critical patent/CN111830967A/en
Application granted granted Critical
Publication of CN111830967B publication Critical patent/CN111830967B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

Abstract

The application relates to the technical field of unmanned driving, and provides a method and a device for determining a parking area, computer equipment and a storage medium. The application combines the original edge line and the pre-marked non-parking area to regenerate the edge line of the side of the parking road, and then adjusts the positions of a plurality of points which are away from the edge line by a first preset distance originally to the positions which are away from the edge line by less than the first preset distance and meet the vehicle constraint, thereby realizing that the positions of a plurality of points which are far away from the edge line originally are adjusted to the positions near the edge line and each point meets the vehicle constraint, taking the point sequence formed by the plurality of points as the center line of the parking area and transversely expanding the center line to obtain the parking area of the vehicle, accurately setting the parking area on the basis of accurately determining the edge line of the side of the parking road, and facilitating the passengers to get on and off the vehicle.

Description

Method, apparatus, computer device and storage medium for determining parking area
Technical Field
The present application relates to the field of unmanned driving technologies, and in particular, to a method and an apparatus for determining a parking area, a computer device, and a storage medium.
Background
With the development of the unmanned technology, a technology for parking an unmanned vehicle at the roadside at any time appears, and the roadside parking at any time is also one of important and complex functions of an unmanned taxi, and under a complex road environment, it is important to find a proper parking area near a specified position of the roadside.
However, the current technology only provides a scheme for parking at the roadside in a simple scene such as parking in an open parking lot, but under the condition of complex road conditions such as a stream of multiple persons and a stream of multiple vehicles, the parking area of the vehicle cannot be accurately determined, for example, the parking area is usually far away from the roadside, and it is not convenient for passengers to get on or off the vehicle.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a computer device and a storage medium for determining a parking area in view of the above technical problems.
A method of determining a parking area, the method comprising:
determining an original edge line of the parking road side, and acquiring a pre-marked non-parking area;
determining the edge line of the parking road side according to the original edge line and the non-parking area;
acquiring a plurality of points with a first preset distance from the edge line, and adjusting the positions of the plurality of points to ensure that the distance between each point after position adjustment and the edge line is smaller than the first preset distance and the vehicle constraint is met;
obtaining a central line of a parking area of the vehicle according to the point sequence formed by the points;
determining a parking area of the vehicle based on a lateral extension of the centerline.
An apparatus for determining a parking area, comprising:
the area acquisition module is used for determining an original edge line of the parking roadside and acquiring a pre-marked non-parking area;
the edge determining module is used for determining the edge line of the parking road side according to the original edge line and the non-parking area;
the position adjusting module is used for acquiring a plurality of points which are at a first preset distance from the edge line, and adjusting the positions of the plurality of points so that the distance between each point after position adjustment and the edge line is smaller than the first preset distance and meets vehicle constraint;
a center line obtaining module for obtaining a center line of a parking area of the vehicle according to the point sequence formed by the points;
a zone determination module to determine a parking zone of the vehicle based on a lateral extension of the centerline.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
determining an original edge line of the parking road side, and acquiring a pre-marked non-parking area; determining the edge line of the parking road side according to the original edge line and the non-parking area; acquiring a plurality of points with a first preset distance from the edge line, and adjusting the positions of the plurality of points to ensure that the distance between each point after position adjustment and the edge line is smaller than the first preset distance and the vehicle constraint is met; obtaining a central line of a parking area of the vehicle according to the point sequence formed by the points; determining a parking area of the vehicle based on a lateral extension of the centerline.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
determining an original edge line of the parking road side, and acquiring a pre-marked non-parking area; determining the edge line of the parking road side according to the original edge line and the non-parking area; acquiring a plurality of points with a first preset distance from the edge line, and adjusting the positions of the plurality of points to ensure that the distance between each point after position adjustment and the edge line is smaller than the first preset distance and the vehicle constraint is met; obtaining a central line of a parking area of the vehicle according to the point sequence formed by the points; determining a parking area of the vehicle based on a lateral extension of the centerline.
The method, the device, the computer equipment and the storage medium for determining the parking area firstly determine an original edge line of the parking road side, acquire a pre-marked non-parking area, thereby determining the edge line of the parking road side according to the original edge line and the non-parking area, acquire a plurality of points of which the distance between the edge line is a first preset distance, adjust the positions of the plurality of points so that the distance between each point after position adjustment and the edge line is less than the first preset distance and the vehicle constraint is met, finally obtain the center line of the parking area of the vehicle according to a point sequence formed by the points, and determine the parking area of the vehicle based on the transverse expansion of the center line. The scheme combines the original edge line and the pre-marked non-parking area to regenerate the edge line of the side of the parking road, and further adjusts the positions of a plurality of points which are originally far away from the edge line to the position of which the distance from the edge line to the edge line is smaller than the first preset distance, so that the positions of the plurality of points which are originally far away from the edge line can be adjusted to the vicinity of the edge line, each point meets the vehicle constraint, the parking area of the vehicle is obtained by taking the point sequence formed by the plurality of points as the center line of the parking area and transversely expanding the center line, the parking area can be accurately set on the basis of accurately determining the edge line of the side of the parking road, and passengers can conveniently get on and off the vehicle.
Drawings
FIG. 1 is a diagram of an application environment of a method for determining a parking area in one embodiment;
FIG. 2 is a schematic flow chart diagram of a method for determining parking areas in one embodiment;
FIG. 3 is a schematic diagram of the relationship between edge lines and non-parking areas in one embodiment;
FIG. 4 is a schematic diagram of generating parking roadside edge lines in one embodiment;
FIG. 5 is a schematic illustration of adjusting the position of a point and determining a parking area in one embodiment;
FIG. 6 is a diagram of vehicle constraints for points in one embodiment;
FIG. 7 is a graphical illustration of parameters associated with steering of a vehicle according to one embodiment;
FIG. 8 is a schematic flow chart diagram of a method for determining a parking area in another embodiment;
FIG. 9 is a block diagram showing the construction of an apparatus for determining a parking area according to an embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for determining the parking area provided by the application can be applied to the application environment shown in fig. 1. The application environment may include a vehicle terminal 110 of a vehicle, which may be an unmanned vehicle, and a server 120, and the vehicle terminal 110 may communicate with the server 120 through a network. The server 120 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
The method for determining the parking area provided by the present application may be executed by the vehicle-mounted terminal 110 or the server 120 alone, or may be executed by the vehicle-mounted terminal 110 and the server 120 in cooperation. Taking the server 120 executing the method as an example: the method comprises the steps that a server 120 determines an original edge line of the parking road side and obtains a pre-marked non-parking area, the server 120 determines the edge line of the parking road side according to the original edge line and the non-parking area, then the server 120 obtains a plurality of points with the distance from the edge line being a first preset distance, and positions of the plurality of points are adjusted so that the distance between each point after position adjustment and the edge line is smaller than the first preset distance and meets vehicle constraint; the server 120 obtains a center line of the parking area of the vehicle from the point sequence constituted by the respective points, and determines the parking area of the vehicle based on a lateral spread of the center line.
Taking an example of the cooperative implementation of the vehicle-mounted terminal 110 and the server 120, the vehicle-mounted terminal 110 may report position information near a position of a parking area to be generated by the vehicle, the server 120 may determine an original edge line of a parking road side according to the position information and acquire a pre-marked non-parking area, the server 120 may determine an edge line of the parking road side according to the original edge line and the non-parking area, then the server 120 acquires a plurality of points having a first preset distance from the edge line, adjusts positions of the plurality of points so that distances between the points after the position adjustment and the edge line are smaller than the first preset distance and satisfy vehicle constraints, so that the server 120 may obtain a center line of the parking area of the vehicle according to a point sequence formed by the points, determine the parking area of the vehicle based on lateral expansion of the center line, and finally the server 120 may issue the parking area to the vehicle-mounted terminal 110 so that the vehicle-mounted terminal 110 parks the vehicle according to the parking area set by the server 120 .
The method for determining a parking area provided by the present application is described below with reference to the embodiments and the accompanying drawings.
In one embodiment, as shown in fig. 2, a method for determining a parking area is provided, which is illustrated by applying the method to the server 120 in fig. 1, and includes the following steps:
step S201, determining an original edge line of the parking road side, and acquiring a pre-marked non-parking area;
step S202, determining the edge line of the parking road side according to the original edge line and the parking unavailable area.
In the above steps S201 to S202, before determining the parking area for the vehicle, a parking roadside edge line is newly drawn up on the basis of the original parking roadside edge line, so that the following step can determine the parking area of the vehicle near the roadside based on the newly drawn up edge line.
Specifically, the parking area is generally a limited right (or left) area centered on the ideal parking point of the passenger, and the right side of the parking area of the vehicle is generally the edge of the road, as shown in fig. 3, the right (or left) side of the parking area may be referred to as the parking roadside, and the edge of the parking roadside has an original edge line 310, which is the actual edge line of the parking roadside obtained by the server 120 from the electronic map, and since the original edge line is adjusted in the above step S202, the original edge line may also be understood as the edge line of the parking roadside before the adjustment. In addition to the original edge lines 310, some areas marked in advance as unwanted parking, which are called as non-parking areas 320, may be obtained from the electronic map, and the non-parking areas 320 may be specifically road areas where it is inconvenient for vehicles to park, such as some obstacles near the side of the parking road or roads in a maintenance state. Based on this, the server 120 may calculate the edge line on the parking road side for the vehicle again according to the original edge line 310 and the non-parking area 320, so that the edge line obtained by recalculation may be set as the parking area for guiding the vehicle to at least bypass the non-parking area 320, as shown in fig. 4, which is the edge line 400 on the parking road side regenerated in one embodiment, the edge line 400 may enable the parking area of the vehicle set according to the edge line 400 not to pass through any non-parking area 320, and optimize the setting of the subsequent parking area.
Step S203, acquiring a plurality of points with a first preset distance from the edge line, and adjusting the positions of the plurality of points to enable the distance between each point after position adjustment and the edge line to be smaller than the first preset distance and meet vehicle constraint;
as shown in fig. 5, the server 120 may acquire a plurality of points that are a first preset distance from the edge line 510 on the parking road side. Here, the edge line 510 may correspond to the edge line obtained by the server 120 through the steps S201 and S202. The plurality of points, which are spaced apart from the edge line 510 by the first preset distance, may be the initial parking regions R preset by the server 120 near the parking road side0And a plurality of points on the centerline that are generally relatively far from edge line 510.
In some embodiments, the edge line 510 may be a parking point P of the vehicle0A point on the road reference line 520, where the road reference line 520 can be used as a reference line for guiding the unmanned vehicle to travel on the road, and also as a route for the unmanned vehicle to travel, and the stop point P0May be a point near the getting-off position designated by the passenger, or may be a point near the getting-on position designated by the passenger to be got on, the parking point P0The server 120 may adjust positions of a plurality of points having a first predetermined distance from the edge line 510 so that the distance between each point and the edge line 510 after the position adjustment is smaller than the first predetermined distance and satisfies the vehicle constraint, in order to make the parking area as close to the edge line 510 as possible.
Further, the adjusting of the positions of the plurality of points away from the edge line 510 by the first preset distance may include: according to the stop point P0Pointing to the direction P01 of the parking roadside, performing a first translation on the plurality of points towards the edge line 510 to make the distance between the point closest to the edge line 510 and the edge line 510 among the plurality of points after the first translation greater than or equal to a second preset distance, then continuing a second translation on the plurality of points after the first translation towards the edge line 510 to make the distances between the plurality of points after the second translation and the edge line 510 equal to the second preset distance, and adjusting the plurality of points after the second translation based on vehicle constraintsThe positions of the points are such that the points after the second translation satisfy the vehicle constraints.
Specifically, the server 120 may be in accordance with the parking spot P0Pointing to the parking roadside direction P01, the plurality of points are translated toward the edge line 510 for the first time (e.g., parking point P)0Is translated to P1) On the basis that the distance between the closest point of the points after the first translation and the edge line 510 is greater than or equal to a second preset distance, the points may be translated towards the edge line 510 for a second time, so that the distance between each point after the second translation and the edge line 510 is the second preset distance, wherein the second preset distance may be a safety distance threshold of the vehicle preset by the server 120, so that when the vehicle is parked at any point after the position adjustment, the vehicle can keep a certain safety distance with the edge line 510, for example, an obstacle at the position of the edge line 510 is not touched when the vehicle is opened, and besides that the points satisfy a safety distance condition, the positions of the points are adjusted on the basis of the second translation, so that the points after the position adjustment satisfy preset vehicle constraints, the vehicle constraint may be a vehicle kinematic constraint such that the vehicle does not drift or lose control or the like due to excessive turning amplitudes when the vehicle moves at each point in sequence.
Step S204, obtaining the central line of the parking area of the vehicle according to the point sequence formed by each point;
in step S205, a parking area of the vehicle is determined based on the lateral expansion of the center line.
In the above steps S204 and S205, mainly after obtaining the points after the position adjustment, the server 120 may use the point sequence of the points as the center line 530 of the parking area of the vehicle, that is, the center line 530 may be expressed based on the point set of the points. After obtaining the center line 530, the server 120 can be extended laterally with the center line 530 as the center to obtain the corresponding region, i.e. the parking region R of the vehicle1. The outward extending distance of the lateral outward extending around the center line 530 may be determined according to the second preset distance, for example, the second preset distance may be determinedAs a spread distance to allow the vehicle to be in the parking region R1When parking, the parking area can keep a certain safety distance with the edge line 510, so that the parking area of the vehicle is accurately set, and the parking safety of the vehicle is ensured on the premise of parking by the roadside as much as possible.
The method for determining the parking area comprises the steps of firstly determining an original edge line of the parking road side, obtaining a pre-marked non-parking area, determining the edge line of the parking road side according to the original edge line and the non-parking area, obtaining a plurality of points with the distance between the edge line being a first preset distance, adjusting the positions of the plurality of points to enable the distance between each point after position adjustment and the edge line to be smaller than the first preset distance and meet vehicle constraint, finally obtaining a center line of the parking area of the vehicle according to a point sequence formed by the points, and determining the parking area of the vehicle based on transverse expansion of the center line. The scheme combines the original edge line and the pre-marked non-parking area to regenerate the edge line of the side of the parking road, and further adjusts the positions of a plurality of points which are originally far away from the edge line to the position of which the distance from the edge line to the edge line is smaller than the first preset distance, so that the positions of the plurality of points which are originally far away from the edge line can be adjusted to the vicinity of the edge line, each point meets the vehicle constraint, the parking area of the vehicle is obtained by taking the point sequence formed by the plurality of points as the center line of the parking area and transversely expanding the center line, the parking area can be accurately set on the basis of accurately determining the edge line of the side of the parking road, and passengers can conveniently get on and off the vehicle.
In one embodiment, the original edge line of the parking road side may be formed by a plurality of sequentially connected original edge points; the non-parking area may be characterized as a polygon; the determining the edge line of the parking road side according to the original edge line and the non-parking area in step S202 may include:
and determining the edge line of the parking road side according to the position relation between the original edge point and the vertex of the polygon.
As shown in fig. 3, in this embodiment, the server 120 may represent the original edge line 310 on the parking road side by a plurality of sequentially connected points, which are referred to as original edge points, and the position of the original edge points on the electronic map may be represented by two-dimensional coordinates. The non-parking area 320 may be represented by a polygon, the polygon may have a plurality of vertices, and the position of each vertex on the electronic map may also be represented by two-dimensional coordinates, and the server 120 may select some points from the original edge points and the vertices of the polygon as points constituting a new edge line on the parking road side according to the positional relationship between the original edge points and the vertices of the polygon.
Further, in the above embodiment, determining the edge line of the parking road side according to the position relationship between the original edge point and the vertex of the polygon may specifically include:
selecting a segment starting point and a segment ending point of a starting segment forming an edge line from a candidate point set comprising an original edge point and a vertex; and selecting candidate points positioned in the range of the preset area from the candidate point set as the segment end points of the next segment.
In this embodiment, each original edge point and each vertex in the above embodiments may be combined to form a candidate point set, where the candidate point set includes each original edge point and each vertex, and each original edge point and each vertex may be represented in the candidate point set in a two-dimensional coordinate manner.
After obtaining the candidate point set, the server 120 may select, from the candidate point set, a line segment start point and a line segment end point of a start line segment of an edge line on the parking road side, where the edge line on the parking road side has a start line segment, and the start line segment is formed by the line segment start point and the line segment end point that are connected to each other, and as shown in fig. 3, the start line segment of the edge line on the parking road side is: ci- 3Ci-2The starting line segment is formed by a line segment starting point Ci-3And line segment end point Ci-2Connected, it can be understood that to form the edge line of the parking road side, it is only necessary to continue with the line segment end point Ci-2As the starting point of the next line segment, finding the candidate point setAnd finally forming the edge line of the side of the parking road by the segment end point of the next segment and the like.
In this embodiment, the server 120 selects the line segment end point of the next line segment by taking the line segment end point of the initial line segment as the line segment start point of the next line segment of the initial line segment, and then selects candidate points located in a preset area range from a candidate point set (the candidate point set may be a candidate point set excluding the selected points) as the line segment end point of the next line segment, wherein the preset area range is an area occupying a preset range with the line segment start point of the next line segment as a center, the preset range is not too large because the range is too large, which may cause an increase in computation amount and is not too small, for example, a point in the preset range without a candidate point set cannot form a margin line, and the preset range may be generally expanded from a basic range value, so that the expanded preset range has candidate points in a candidate point set of, for example, 3 to 5, and then selecting one point from the 3 to 5 candidate points as the segment end point of the next segment.
In one embodiment, the step of selecting a candidate point located in a preset area range from the candidate point set as a line segment end point of a next line segment in the above embodiment further includes:
if a plurality of candidate points which are selected from the candidate point set and are positioned in the range of the preset area comprise a plurality of candidate points, acquiring a plurality of line connecting segments of which the candidate points are respectively connected with the segment starting point of the next segment; and selecting a candidate point with the largest or smallest included angle from the plurality of candidate points as a line segment end point of the next line segment according to the included angles between the plurality of line segments and the initial line segment in the preset direction.
In this embodiment, if the candidate points selected by the server 120 from the candidate point set and located in the preset area range include multiple candidate points, that is, multiple candidate points are obtained, the server 120 may further connect the multiple candidate points with the line segment start point of the next line segment to form multiple line segments, and determine the included angles between the multiple line segments and the start line segment in the preset direction, where the preset direction may be a clockwise direction or an anticlockwise direction, and the specific direction may be determined according to the position of the selected line segment start point and the relative position where the edge line is located. Then, the server 120 may select a candidate point with the largest or smallest included angle from the plurality of candidate points as a line segment end point of the next line segment, and select the candidate point with the largest or smallest included angle, or determine the included angle according to the start point position of the selected line segment and the relative position of the edge line.
Specifically, as shown in fig. 3, the edge line 310 may be represented by a set CE of two adjacent connecting line segments in the point set:
CP＝{cpi|i＝0…M}
CE＝{ei|ei＝LINE(cpi,cpi+1),i＝0…M-1}
where CP is a point set, CE is a line segment set of the edge line 310, the non-parking area 320 is a polygon of any shape, and the set identifier of the vertex of the non-parking area 320 is:
T＝{ti|i＝0…T}
from the set of line segments of the edge line 310 and the set of vertices of the no-parking area 320, the set of candidate points can be represented as:
CC＝T∪CP
in this embodiment, a subset may be selected from the candidate point set CC and ordered to form a new edge line point set C.
Given a point CC in any one CC setiA predetermined range W (cc) of the region is preseti). This predetermined area range W (cc)i) Is in cciA limited area at the center. Thus, what the present embodiment is to solve is what is critical to be solved at a given point CiHow to select a suitable point from the CC as the point CiNext point C ofi+1. Specifically, the method comprises the following steps: the set of intersection points CW may be set to:
CW＝W(Ci)∩CC
Ci+1＝argmin{ANGLE(Ci-1,Ci,cwj)}
where ANGLE (x, y, z) means that when line zy rotates counterclockwise around y to be collinear with line xy, it sweepsThe angle of the. And whether argmin (angle minimum) or argmax (angle maximum) is used depends on the selected point ciThe starting point location and the relative orientation of the edge line 310. As shown in fig. 3, CW included in the present embodiment from the above-described set CW0、cw1、cw2、cw3And cw4One candidate point is selected from the five candidate points as the point CiNext point C ofi+1. Specifically, point C will be described with reference to the auxiliary drawing 30 in fig. 3iCan be taken as a line segment Ci-1CiEnd point of line segment of (1), point CiAs line segment CiCi+1Starting point of the line segment of (1), then from cw0、cw1、cw2、cw3And cw4One candidate point is selected from the five candidate points to serve as a line segment CiCi+1The end point of the line segment of (c), when selected, may be set to cw0、cw1、cw2、cw3And cw4Respectively with point CiConnected to form five connecting line segments, e.g. Cicw0And Cicw1And then connecting the line segment C with the line segment C according to five connecting linesi-1CiAt the included angle in the counterclockwise direction indicated by the arrow 31, the candidate point with the smallest included angle is selected from the five candidate points as the segment end point of the next segment, and as can be seen from the auxiliary graph 30, the segment C is connectedicw0Is a line segment C of five connecting line segmentsi-1CiA line segment with the smallest included angle is formed in the counterclockwise direction, so that the line segment Cicw0Corresponding candidate point cw0Is determined as line segment CiCi+1End point C of line segmenti+1By analogy, a new edge line 400 on the parking road side as shown in fig. 4 can be obtained.
In one embodiment, the vehicle constraint in step S203 includes that the steering range of the vehicle is less than or equal to a preset steering range threshold value when the vehicle moves from any point to an adjacent point at a preset parking speed.
As shown in FIG. 5, for most areas of the electronic map, the server 120 may calculate a parking lot near the side of the parking lot on-lineVehicle region such as R0However, in a scene with a complicated road condition, the edge line 510 on the parking road side is generally irregular, but the center line of the parking area to be obtained needs to be smooth and in accordance with vehicle constraints such as low-speed steering constraints, and the parking area must be as close to the road side as possible, that is, the parking area R shown in fig. 51。
In the present embodiment, a parking spot P is provided as shown in FIG. 50The set of points of the road reference line 520 is represented as:
A＝{ai|i＝0…N}
the set of points of the position-adjusted centerline 530 may be represented as
D＝{di|i＝0…N}
The specific steps of obtaining the position-adjusted center line 530 from the road reference line 520 in this embodiment may include:
1. determining a stop point P0A direction P01 directed toward the parking road side as a translation direction;
2. translating all points in the point set A of the road reference line 520 according to the direction P01, ensuring that the nearest distance between all points in the point set A of the road reference line 520 and the edge line 510 is not less than a safe distance threshold, and obtaining a new point set B after translation; wherein, the distance between the closest point of the curve composed of the new point set B and the edge line 510 is not less than the safety distance threshold, and the curve composed of the new point set B is the same as the line type of the road reference line 520, and has relatively straight and smaller radian;
3. for each point B on the new set of points BiThe translation may continue in direction P01 to obtain an ultimate translation point l of d from edge line 510iAt this time, the limit translation point liThe curve is formed as close as possible to the edge line 510, where the term close as possible means that each limit translation point l isiA safe distance threshold is maintained from the edge line 510.
4. To move at the extreme translation point liOn the basis of the steering passing ability of the finally obtained central line of the parking area, and can be used for each limitTranslation point liSteering corrections are made to translate at each extreme translation point liTo finally determine the point d of the center line 530i：di＝Q(di-1,li) In this manner, each adjacent point on the resulting centerline 530, such as point d, is guaranteediAnd point di-1All meet vehicle constraints;
specifically, as shown in FIG. 6, the point l is translated based on the pair limitiPoint d of center line 530 after position adjustmenti＝Q(di-1,li) To satisfy the vehicle constraints: a. at a preset parking speed, the calculated point diCan not lead the vehicle to drive from di-1Move to its neighboring point diWhen the steering amplitude of the vehicle is larger than a preset steering amplitude threshold value (namely, smaller than or equal to a certain safety value), because exceeding the steering amplitude threshold value can cause the drift or runaway of the vehicle; b. from di-1Steering amplitude of diThe rate of change of the steering angle of (2) cannot exceed a certain threshold, i.e. the change of the steering angle cannot be too great. The scheme of this embodiment can guarantee that each point of central line all satisfies vehicle kinematics constraint on making the parking area central line as close as possible to the marginal line of parking roadside.
In one embodiment, further, the steering amplitude threshold in the above embodiment may be determined according to a maximum allowable rear wheel slip angle of the vehicle when the vehicle moves from any one of the points to the adjacent point at the preset parking speed.
In the present embodiment, regarding, for example, the vehicle constraint condition a, the rear wheel drift of the vehicle is generally determined by the rear wheel side slip angle alpha, which is generally smaller than 3 or 5 degrees when the vehicle moves from any point on the parking center line to an adjacent point at a preset parking speed, i.e., the maximum allowable rear wheel side slip angle of the vehicle is 3 or 5 degrees. Based on the maximum angle, the steering width threshold of the vehicle can be estimated, and as shown in fig. 7, the rear wheel side slip angle alpha is atan (v)ry/vx)＝atan((vy+ωL)/vx) The steering width ω of the vehicle may be associated with the rear wheel side slip angle alpha based on the expression form of the rear wheel side slip angle alpha,by such a constraint, the degree (i.e. steering amplitude threshold) that the steering amplitude ω (or corresponding to the steering wheel angle) of the vehicle cannot exceed at the preset parking speed can be obtained, and the point d of the center line 530 can be deducediUnder this condition the point l is translated to the limitiSuch that the center line 530 is as close as possible to the parking roadside edge line 510 with the vehicle safely parked.
In one embodiment, as shown in fig. 8, there is provided a method of determining a parking area, which is applicable to the server 120 shown in fig. 1, and which may include the steps of:
step S801, the server 120 determines the original edge line of the parking roadside and acquires a pre-marked non-parking area;
step S802, the server 120 selects a segment starting point and a segment ending point of a starting segment forming the edge line from a candidate point set comprising the original edge point and the vertex;
the original edge line is composed of a plurality of sequentially connected original edge points, and the non-parking area is represented by a polygon with the vertexes.
Step S803, the server 120 uses the segment end point of the initial segment as the segment start point of the next segment of the initial segment, and if a plurality of candidate points selected from the candidate point set are located within the preset area range, obtains a plurality of line segments where the candidate points are respectively connected with the segment start point of the next segment;
in this step, the preset area range may be an area occupying the preset range with a line segment starting point of the next line segment as a center.
Step S804, the server 120 selects a candidate point with the largest or smallest included angle from the multiple candidate points as a line segment end point of a next line segment according to the included angles between the multiple line segments and the initial line segment in the preset direction;
in this step, the preset direction may be clockwise or counterclockwise, the selected included angle is the largest or the smallest, and the selection of the direction and the included angle determination condition may be determined according to the position of the starting point of the selected line segment and the relative position of the edge line. After the segment end point of the next segment is obtained, a new edge line on the parking road side can be obtained by analogy.
Step S805, the server 120 obtains a plurality of points having a first preset distance from the edge line, and adjusts the positions of the plurality of points, so that the distance between each point after the position adjustment and the edge line is smaller than the first preset distance and meets the vehicle constraint;
step S806, the server 120 obtains the center line of the parking area of the vehicle from the point sequence constituted by the points;
in step S807, the server 120 determines the parking area of the vehicle based on the lateral expansion of the center line.
As shown in fig. 5, the server 120 obtains a plurality of points having a first preset distance from the edge line 510, where the plurality of points may be a plurality of points on the road reference line 520, and the server 120 may translate the plurality of points toward the parking side according to the direction P01, so that the distance between each point obtained after the translation and the edge line 510 is greater than or equal to a second preset distance and satisfies a vehicle constraint, where the vehicle constraint may include that a steering range of the vehicle is less than or equal to a preset steering range threshold when the vehicle moves from any point of the points to an adjacent point at a preset parking speed, and the steering range threshold may be determined according to a maximum angle of a rear wheel side slip angle allowed by the vehicle when the vehicle moves from any point of the points to the adjacent point at the preset parking speed. Finally, the server 120 obtains a center line 530 of the parking area of the vehicle from the sequence of points formed by the respective points, and determines the parking area R of the vehicle based on a lateral spread of the center line 5301。
The method can adjust the positions of a plurality of points which are originally far away from the edge line 510 to be near the edge line so that the distances between the adjusted points and the edge line are not less than the safety threshold distance of the vehicle and the points meet the vehicle constraint, and obtain the parking area R of the vehicle by taking the point sequence formed by the plurality of points as the center line 530 of the parking area and transversely expanding the center line 5301Can accurately set the edge line of the parking road side on the basis of accurately determining the edge lineDecide the parking area, facilitate the passenger getting on or off the bus
It should be understood that, although the steps in the flowcharts of fig. 2 to 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 to 8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 9, there is provided an apparatus for determining a parking area, including:
the area acquisition module 901 is configured to determine an original edge line on the parking road side, and acquire a pre-marked non-parking area;
an edge determining module 902, configured to determine an edge line of the parking roadside according to the original edge line and the non-parking area;
a position adjusting module 903, configured to obtain multiple points with a first preset distance from the edge line, and adjust positions of the multiple points, so that the distance between each point after position adjustment and the edge line is smaller than the first preset distance and meets vehicle constraints;
a center line obtaining module 904 for obtaining a center line of a parking area of the vehicle based on the point sequence constituted by the points;
a zone determination module 905 for determining a parking zone of the vehicle based on the lateral extension of the centerline.
In one embodiment, the original edge line is composed of a plurality of sequentially connected original edge points; the non-parking area is characterized by a polygon; the region obtaining module 901 is further configured to determine an edge line of the parking road side according to a position relationship between the original edge point and a vertex of the polygon.
In an embodiment, the region obtaining module 901 is further configured to select a line segment starting point and a line segment ending point of a starting line segment constituting the edge line from a candidate point set including the original edge point and the vertex; selecting candidate points in a preset area range from the candidate point set as the segment starting points of the next segment of the starting segment by taking the segment end points of the starting segment as the segment starting points of the next segment of the starting segment; the preset area range takes the starting point of the line segment of the next line segment as the center and occupies the area of the preset range.
In an embodiment, the region obtaining module 901 is further configured to, if a plurality of candidate points selected from the candidate point set and located in the preset region range include multiple candidate points, obtain multiple line segments where the multiple candidate points are respectively connected to the line segment start point of the next line segment; and selecting the candidate point with the largest or smallest included angle from the plurality of candidate points as the line segment end point of the next line segment according to the included angles between the plurality of line segments and the initial line segment in the preset direction.
In one embodiment, the position adjusting module 903 is further configured to perform a first translation on the plurality of points toward the edge line according to a direction from the parking point to the side of the parking road, so that a distance between a point closest to the edge line among the plurality of points after the first translation and the edge line is greater than or equal to a second preset distance; performing second translation on the plurality of points after the first translation towards the edge line, so that the distances between the plurality of points after the second translation and the edge line are the second preset distances; and adjusting the positions of the points after the second translation based on the vehicle constraint so that the points after the second translation meet the vehicle constraint.
In one embodiment, the vehicle constraint includes that the steering amplitude of the vehicle is less than or equal to a preset steering amplitude threshold value when the vehicle moves from any point to an adjacent point of the points at a preset parking speed.
In one embodiment, the steering magnitude threshold is determined according to a maximum allowable rear wheel slip angle of the vehicle when the vehicle moves from any one of the points to an adjacent point at the preset parking speed.
For specific definition of the means for determining the parking area, reference may be made to the above definition of the method for determining the parking area, which is not described in detail herein. The respective modules in the above-described apparatus for determining a parking area may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server or a vehicle-mounted terminal, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of determining a parking area.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method of determining a parking area, the method comprising:
determining an original edge line of the parking road side, and acquiring a pre-marked non-parking area;
determining the edge line of the parking road side according to the original edge line and the non-parking area;
obtaining a plurality of points on the center line of the initial parking area, the distance between which and the edge line is a first preset distance, and translating the positions of the plurality of points towards the direction of the side of the parking road so as to enable the distance between each point after position adjustment and the edge line to be smaller than the first preset distance and not smaller than a second preset distance and meet vehicle constraint;
obtaining a central line of a parking area of the vehicle according to the point sequence formed by the points;
determining a parking area of the vehicle based on a lateral extension of the centerline.
2. The method of claim 1, wherein the original edge line is composed of a plurality of sequentially connected original edge points; the non-parking area is characterized by a polygon; the determining the edge line of the parking road side according to the original edge line and the non-parking area comprises:
and determining the edge line of the parking road side according to the position relation between the original edge point and the vertex of the polygon.
3. The method according to claim 2, wherein the determining the parking-roadside edge line according to the positional relationship between the original edge point and the polygon vertex comprises:
selecting a line segment starting point and a line segment ending point of a starting line segment forming the edge line from a candidate point set comprising the original edge point and the vertex;
selecting candidate points in a preset area range from the candidate point set as the segment starting points of the next segment of the starting segment by taking the segment end points of the starting segment as the segment starting points of the next segment of the starting segment; wherein the content of the first and second substances,
the preset area range takes the starting point of the line segment of the next line segment as the center and occupies the area of the preset range.
4. The method of claim 3, wherein selecting candidate points within a predetermined area from the candidate point set as segment end points of the next segment comprises:
if a plurality of candidate points which are selected from the candidate point set and are positioned in the preset area range are included, acquiring a plurality of line connecting segments of which the candidate points are respectively connected with the segment starting point of the next segment;
and selecting the candidate point with the largest or smallest included angle from the plurality of candidate points as the line segment end point of the next line segment according to the included angles between the plurality of line segments and the initial line segment in the preset direction.
5. The method of claim 1, wherein said translating the positions of the plurality of points in the direction toward the parking road side such that the distance between each point after position adjustment and the edge line is less than the first preset distance and not less than a second preset distance and satisfies vehicle constraints comprises:
according to the direction from the parking point to the side of the parking road, performing first translation on the plurality of points to the edge line, so that the distance between the point, which is closest to the edge line, of the plurality of points after the first translation and the edge line is greater than or equal to a second preset distance;
respectively carrying out second translation on the plurality of points after the first translation towards the edge line, so that the distances between the plurality of points after the second translation and the edge line are the second preset distances;
and adjusting the positions of the points after the second translation based on the vehicle constraint so that the points after the second translation meet the vehicle constraint.
6. The method of any one of claims 1 to 5, wherein the vehicle constraint comprises a magnitude of steering of the vehicle being less than or equal to a preset steering magnitude threshold when the vehicle moves from any one of the points to an adjacent point at a preset parking speed.
7. The method of claim 6, wherein the steering magnitude threshold is determined based on a maximum degree of rear wheel slip permitted for the vehicle as the vehicle moves from any one of the points to an adjacent point at the predetermined stopping speed.
8. An apparatus for determining a parking area, comprising:
the area acquisition module is used for determining an original edge line of the parking roadside and acquiring a pre-marked non-parking area;
the edge determining module is used for determining the edge line of the parking road side according to the original edge line and the non-parking area;
the position adjusting module is used for acquiring a plurality of points on the central line of the initial parking area, the distance between which and the edge line is a first preset distance, and translating the positions of the plurality of points towards the direction of the side of the parking road so as to enable the distance between each point after position adjustment and the edge line to be smaller than the first preset distance and not smaller than a second preset distance and meet vehicle constraint;
a center line obtaining module for obtaining a center line of a parking area of the vehicle according to the point sequence formed by the points;
a zone determination module to determine a parking zone of the vehicle based on a lateral extension of the centerline.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
CN202010504762.0A 2020-06-05 2020-06-05 Method, apparatus, computer device and storage medium for determining parking area Active CN111830967B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010504762.0A CN111830967B (en) 2020-06-05 2020-06-05 Method, apparatus, computer device and storage medium for determining parking area

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010504762.0A CN111830967B (en) 2020-06-05 2020-06-05 Method, apparatus, computer device and storage medium for determining parking area

Publications (2)

Publication Number Publication Date
CN111830967A CN111830967A (en) 2020-10-27
CN111830967B true CN111830967B (en) 2021-09-17

Family

ID=72897610

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010504762.0A Active CN111830967B (en) 2020-06-05 2020-06-05 Method, apparatus, computer device and storage medium for determining parking area

Country Status (1)

Country Link
CN (1) CN111830967B (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6622148B2 (en) * 2016-06-17 2019-12-18 日立オートモティブシステムズ株式会社 Ambient environment recognition device
US10246086B2 (en) * 2016-09-08 2019-04-02 Ford Global Technologies, Llc Echelon parking
CN110140028A (en) * 2016-10-20 2019-08-16 优特诺股份有限公司 Mark is used for the parking site of autonomous vehicle
JP6910806B2 (en) * 2017-01-30 2021-07-28 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ Control devices, control methods and programs for autonomous vehicles
CN110162028A (en) * 2018-02-11 2019-08-23 北京图森未来科技有限公司 A kind of vehicle location shutdown system, method and apparatus
US10670412B2 (en) * 2018-02-20 2020-06-02 Veoneer Us, Inc. System and method for generating a target path for a vehicle

Also Published As

Publication number Publication date
CN111830967A (en) 2020-10-27

Similar Documents

Publication Publication Date Title
JP6982897B2 (en) Methods and equipment for optimized resource allocation during autonomous driving based on reinforcement learning using data from riders, radars and camera sensors
CN108062094B (en) Autonomous system and method for realizing vehicle driving track planning based on processor
CN110654376B (en) Planning of parking trajectories for autonomous vehicles
CN109866778B (en) Autonomous vehicle operation with automatic assistance
US10515321B2 (en) Cost based path planning for autonomous driving vehicles
US10754339B2 (en) Dynamic programming and quadratic programming based decision and planning for autonomous driving vehicles
EP3643575B1 (en) A two-step reference line smoothing method to mimic human driving behaviors for autonomous driving cars
CN108602509B (en) Method and system for operating an autonomous vehicle based on motion planning
US10429849B2 (en) Non-linear reference line optimization method using piecewise quintic polynomial spiral paths for operating autonomous driving vehicles
CN110096054B (en) Method and system for generating a reference line for an autonomous vehicle using multiple threads
US11338803B2 (en) Traveling track determination processing and automated drive device
CN111426330A (en) Path generation method and device, unmanned transportation system and storage medium
CN111060108B (en) Path planning method and device and engineering vehicle
CN113916246B (en) Unmanned obstacle avoidance path planning method and system
US11449058B2 (en) Traveling track determination processing and automated drive device
CN109270933A (en) Unmanned barrier-avoiding method, device, equipment and medium based on conic section
JP2022501612A (en) Road marking method and system
CN111186443B (en) Lane change path planning method and device, electronic equipment and computer readable medium
JP6825081B2 (en) Vehicle control device and vehicle control method
CN110109449A (en) Speed planning method, apparatus, computer equipment and storage medium
US20190235498A1 (en) Method for generating a reference line by stitching multiple reference lines together using multiple threads
US20200310446A1 (en) Soft-boundary based path optimization for complex scenes for autonomous driving vehicles
JP2020050108A (en) Vehicle control device, vehicle control method, and program
JP2022502311A (en) Feature point extraction method and equipment for environmental targets
WO2018211645A1 (en) Driving assistance method and driving assistance apparatus

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