CN111882906B

CN111882906B - Method, apparatus, device and medium for determining parking position of vehicle

Info

Publication number: CN111882906B
Application number: CN202010761244.7A
Authority: CN
Inventors: 胡国静; 何伟亮
Original assignee: Beijing Voyager Technology Co Ltd
Current assignee: Beijing Voyager Technology Co Ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2022-08-12
Anticipated expiration: 2040-07-31
Also published as: CN115171415A; WO2022022562A1; CN111882906A

Abstract

Embodiments in accordance with the present disclosure provide a method, apparatus, computing device, and storage medium for determining a parking position of an autonomous vehicle. The method proposed herein comprises: determining a state of at least one of a turn signal light and a straight-ahead signal light before the vehicle turns at the intersection; setting a position of a first stop line of a waiting area for a turn as a to-be-stopped position if it is determined that a state of at least one of a turn signal lamp and a straight-ahead signal lamp indicates that the vehicle is passable; and determining whether the vehicle is parked or continues to travel at the location to be parked based on the subsequent state of the turn signal light. According to the fact of the disclosure, the protected turning process of the area to be turned can be simplified, and the difficulty in realizing the turning process is reduced.

Description

Method, apparatus, device and medium for determining parking position of vehicle

Technical Field

Implementations of the present disclosure relate generally to the field of autonomous driving, and more particularly, to a method, apparatus, computing device, and computer storage medium for determining a parking position of an autonomous vehicle.

Background

Currently, autonomous driving (also referred to as unmanned) technology has received a great deal of attention and has been rapidly developed. The autonomous vehicle may sense conditions around the vehicle using various sensors while the autonomous vehicle is traveling, and may also receive environmental information via a wireless communication link. In conjunction with the traffic map, the autonomous vehicle may make corresponding driving decisions. For example, when an autonomous vehicle travels to an intersection, a decision whether to stop or not may be made based on road conditions and signal lights. When the automatic driving vehicle turns left, if the intersection has a left turning waiting area, the vehicle can drive into the left turning waiting area to wait, so that the vehicle can turn left under protection, and the passing efficiency of the left turning is improved.

Disclosure of Invention

Embodiments of the present disclosure provide a solution for determining a parking location of an autonomous vehicle.

In a first aspect of the disclosure, a method of determining a parking position of an autonomous vehicle is provided. In the method, a state of at least one of a turn signal light and a straight traveling signal light is determined before the vehicle turns at the intersection. If it is determined that the state of at least one of the turn signal lamp and the straight traveling signal lamp indicates that the vehicle is passable, the position of the first stop line of the waiting area for a turn is set as a to-be-stopped position. Based on the subsequent state of the turn signal lamp, it is determined whether the vehicle is parked or continues to travel at the position to be parked.

In a second aspect of the present disclosure, an apparatus for determining a parking position of an autonomous vehicle is provided. The device includes: a first determination module configured to determine a state of at least one of a turn signal light and a straight-ahead signal light before a vehicle turns at an intersection; a first setting module configured to set a position of a first stop line of a waiting area for a turn as a to-be-stopped position if it is determined that a state of at least one of a turn signal lamp and a straight-ahead signal lamp indicates that the vehicle is passable; and a second determination module configured to determine whether the vehicle is parked or continues to travel at the position to be parked based on the subsequent state of the turn signal lamp.

In a third aspect of the disclosure, there is provided a computing device comprising: a memory and a processor; wherein the memory is for storing one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to the first aspect of the disclosure.

In a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon one or more computer instructions, wherein the one or more computer instructions are executed by a processor to implement a method according to the first aspect of the present disclosure.

Drawings

The features, advantages and other aspects of various implementations of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, which illustrate, by way of example and not by way of limitation, several implementations of the present disclosure. In the drawings:

FIG. 1 schematically illustrates a schematic diagram of an example environment in which embodiments of the present disclosure can be implemented;

FIG. 2 schematically illustrates a flow chart of a method of determining a parking position of an autonomous vehicle, in accordance with certain embodiments of the present disclosure;

FIG. 3 schematically illustrates a flow chart of a process of determining a parking position of an autonomous vehicle, according to certain embodiments of the present disclosure;

FIG. 4 schematically illustrates a block schematic diagram of an apparatus for determining a parking position of an autonomous vehicle, in accordance with certain embodiments of the present disclosure; and

fig. 5 schematically illustrates a block diagram of a computing device in accordance with an exemplary implementation of the present disclosure.

Detailed Description

Preferred implementations of the present disclosure will be described in more detail below with reference to the accompanying drawings. While a preferred implementation of the present disclosure is shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited by the implementations set forth herein. Rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The term "include" and variations thereof as used herein is meant to be inclusive in an open-ended manner, i.e., "including but not limited to". Unless specifically stated otherwise, the term "or" means "and/or". The term "based on" means "based at least in part on". The terms "one example implementation" and "one implementation" mean "at least one example implementation". The term "another implementation" means "at least one additional implementation". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions are also possible below.

The autonomous vehicle can make driving decisions according to the surrounding environment during driving. For example, when the autonomous vehicle is going straight through an intersection, whether or not to stop at the position of the stop line can be determined according to the color of the straight traffic light. When the vehicle is to turn at an intersection, whether to stop at the position of the stop line may be determined according to the color of a turn signal (e.g., a left turn signal or a right turn signal). In general, when making a decision on whether to stop or not based on a signal light, the position of the stop line is fixed, and only the state of the signal light needs to be considered.

When the intersection has a left turn waiting area, the automatic driving vehicle can also carry out left turn with protection. At the moment, the vehicle can enter a left turn waiting area for waiting so as to improve the passing efficiency of the left turn. The inventors have noted that in scenarios where an autonomous vehicle makes a protected left turn at an intersection with a left turn waiting area, there is a lack of simple and feasible implementation logic for driving decisions. For example, it may be necessary for the colors of both the left turn signal and the straight traveling signal to satisfy a predetermined condition (e.g., when the left turn signal is a red light and the straight traveling signal is a green light) before deciding to enter the left turn waiting area.

The embodiment of the disclosure provides a decision scheme of an automatic driving vehicle to be turned at an intersection. According to the method, before the autonomous vehicle turns, it is determined whether the position to be stopped is at a stop line of a waiting area for a turn or a stop line of an intersection according to a state of at least one of a turn signal lamp and a straight-ahead signal lamp. If the state of at least one signal light indicates that the vehicle is passable, the position of the stop line of the waiting area for the turn is set as the to-be-stopped position. Then, based on the subsequent state of the turn signal lamp, it is determined whether the vehicle should be stopped or continued to travel at the position to be stopped.

Embodiments of the present disclosure adjust the location where stop lines are placed based on the state of turn signal lights and turn signal lights, making parking decisions based on the state of turn signal lights. Therefore, the straight-going signal lamp only influences the position of the stop line, and the turning decision only needs to consider the turning signal lamp, so that the protected turning process of the area to be turned is simplified, and the difficulty in realizing the turning process is reduced.

FIG. 1 illustrates a schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented.

As shown, the vehicle 105 is traveling on a road 110. The roadway 110 includes four lanes in both directions, two lanes in each direction. It should be understood that this is by way of example only and not by way of limitation. In some embodiments, the roadway 110 may include eight lanes in both directions, with four lanes in each direction.

In this example, the vehicle 105 is traveling before the intersection 115 and is ready to turn left. As in environment 100, there is a waiting area 120 with a left turn at intersection 115. The vehicle 105 may enter the waiting area 120 for a left turn, as appropriate, to promote efficient passage of the turn. As shown in fig. 1, the waiting area 120 that turns left has a stop line 125, and there is a stop line 130 where the road 110 intersects the intersection 115. The vehicle 105 may make the decision whether the vehicle 105 is parked at the stop-line 125 and the stop-line 130 based on the status of the straight-ahead signal lights 135 and the left-turn signal lights 140 (e.g., the green-yellow-red color status).

It should be understood that the vehicle 105 is shown in fig. 1 turning left at the intersection 115 and the waiting area 120 for a left turn, for purposes of illustration only and not limitation. In some embodiments, the intersection 115 may have a waiting area for a right turn, and the vehicle 105 may turn right at the intersection 115. Accordingly, the vehicle 105 may make decisions based on the status of the right turn signal lights 145. For ease of discussion, the left turn signal lamp 140 and the right turn signal lamp 145 are collectively referred to as a turn signal lamp, the stop-line of the waiting area for a turn (e.g., the stop-line 125) is referred to as a first stop-line, and the stop-line 130 where the road 110 intersects the intersection 115 is referred to as a second stop-line.

In embodiments of the present disclosure, the vehicle 105 will detect the status of the straight-ahead signal lights 135 and turn signal lights (e.g., the left turn signal lights 140 or the right turn signal lights 145) when it reaches the vicinity of the intersection 115. The vehicle 105 may perform the detection of the signal light status in any suitable manner. In this example, a sensor 150 (e.g., a camera) may be disposed in the vehicle 105 for obtaining images or video of the signal lights 135, 140, and 145.

In certain embodiments, sensors located outside of vehicle 105 may be disposed in environment 100. The external sensors sense the state of the signal lights and may wirelessly transmit the state to the interior of the vehicle 105. In certain other embodiments, the vehicle 105 may communicate directly with devices that control the status of the signal lights 135, 140, and/or 145 in a wireless manner to obtain status indication information of the signal lights. Any suitable wireless communication technology now known or developed in the future may be used herein. The scope of the present disclosure is not limited in this respect.

As shown in FIG. 1, the vehicle 105 also includes a computing device 155 for providing various decision-making functions during travel of the vehicle 105. Computing device 155 is a device with computing capabilities. As an example, computing device 155 may be placed inside vehicle 105 as a standalone device. For example, computing device 155 may be a separately designed and packaged device, including, for example, but not limited to, a Personal Computer (PC), a laptop computer, a tablet computer, a Personal Digital Assistant (PDA), a blade, a mobile phone, a smart device such as a smart wearable device, and so forth.

Alternatively, the computing device 155 may also be integrated into the vehicle body, or attached to the outside of the vehicle body. In some embodiments, the computing device 155 may be integrated into a user's mobile terminal (such as a mobile phone) or other smart device. For example, the user's mobile terminal may provide an application for implementing the functionality of the computing device 155 described herein. In certain other embodiments, computing device 155 may be remotely disposed as a remote computer, server, or the like.

Upon the vehicle 105 approaching the intersection 115, the computing device 155 may obtain the signal lights 135, 140, and/or 145 status from the sensors 150 or otherwise and make driving decisions for the vehicle 105 in this manner. In the disclosed embodiments, when the vehicle 105 is to turn (e.g., turn left), the computing device 155 determines whether to set the position of the first stop line of the waiting area for the turn or the second stop line at the intersection as the to-be-stopped position, depending on the state of the turn signal light (e.g., the left turn signal light 140) and the straight traveling signal light 135. The computing device 155 also determines a traffic maneuver for the vehicle 105 at the pending stop location based on the subsequent state of the turn signal light (e.g., the left turn signal light 140).

Fig. 2 illustrates a flow chart of a method 200 of determining a parking location of autonomous vehicle 105 in accordance with certain embodiments of the present disclosure. Method 300 may be performed by computing device 155. For ease of discussion, the method 200 will be described below in conjunction with FIG. 1.

As shown in fig. 2, at block 205, prior to the vehicle 105 turning (e.g., left turning) at the intersection 115, the computing device 155 determines a status of at least one of a turn signal light (e.g., left turn signal light 140) and a straight-ahead signal light 135. For example, the computing device 155 may obtain red, yellow, green, etc. color states of the turn signal lights and the straight traveling signal lights 135 sensed by the sensors 150.

At block 210, the computing device 155 determines that the status of at least one of the turn signal light (e.g., the left turn signal light 140) and the straight travel signal light 135 indicates that the vehicle 105 is passable. The computing device 155 may determine whether the signal light indicates that the vehicle 105 is passable based on the color of the signal light. For example, if the direct travel signal light 135 is red, the computing device 155 may determine that it indicates that the vehicle 105 is impassable. A green or yellow direct-running signal light 135 indicates that the vehicle 105 is available for traffic. If the turn signal light is red, the computing device 155 may determine that it indicates that the vehicle 105 is not available to turn (i.e., not passable). The green turn signal light indicates that the vehicle 105 is available for turning (i.e., passable).

At block 215, computing device 155 sets the position of the first stop-line (e.g., stop-line 125) of the waiting area for the turn (e.g., left turn waiting area 120) to the to-be-parked position.

In some embodiments, the computing device 150 may first determine that the status of the turn signal light indicates whether the vehicle 105 is passable or impassable. For example, if the state of the turn signal light indicates that the vehicle 105 is passable, the computing device 150 may directly set the position of the first stop line of the waiting area for a turn as the to-be-stopped position.

If the status of the turn signal light indicates that the vehicle 105 is not passable, the computing device 150 again determines that the status of the straight-going signal light 135 indicates that the vehicle is passable or impassable. If the status of the straight-ahead signal 135 indicates that the vehicle is passable, the computing device 150 may determine to set the position of the first stop line of the waiting area for the turn as the to-be-parked position.

In some embodiments, the computing device 150 may first determine the status of the direct travel signal light 135. If the status of the straight-ahead signal 135 indicates that the vehicle 105 is passable, the computing device 150 may determine to set the position of the first stop line of the waiting area for the turn as the to-be-parked position. In certain other embodiments, the computing device 150 may determine the state of the turn signal lights and the straight traveling signal lights 135 simultaneously and determine the to-be-parked position accordingly.

After determining that the to-be-parked position is the position of the first stop-line of the waiting area for the turn, at block 220, the computing device 155 determines whether the vehicle 105 is parked or continuing to travel at the to-be-parked position based on the subsequent state of the turn signal. For example, the vehicle 105 may first enter a waiting area for a turn (e.g., the waiting area 120 for a left turn). If the subsequent state of the turn signal (e.g., left turn signal 140) indicates that the vehicle is impassable when the vehicle 105 is near the first stop-line (e.g., stop-line 125) of the waiting area, the computing device 155 determines that the vehicle 105 is to be parked at the to-be-parked position (i.e., before the first stop-line). If the subsequent state of the turn signal indicates that the vehicle is passable, the computing device 155 determines that the vehicle 105 is traveling through the first stop-line (e.g., stop-line 125) without stopping.

In certain embodiments, if the states of both the turn signal light and the straight signal light 135 indicate that the vehicle 105 is impassable, the computing device 155 may set the position of the second stop line 130 at the intersection 115 as the to-be-parked position and determine that the vehicle 105 is to be parked at that position.

According to an embodiment of the present disclosure, the position at which the stop line is placed may be adjusted according to the state of the turn signal light and the straight traveling signal light 135, thereby controlling the timing at which the vehicle 105 enters the waiting area for turning. Then, a parking decision is made according to the state of the turn signal lamp. Therefore, the protected turning implementation scheme of the area to be turned is simplified.

Fig. 3 illustrates a flow chart of a process 300 for determining a parking position of the vehicle 105 when the vehicle 105 turns left according to certain other embodiments of the present disclosure. Process 300 may be performed by computing device 155. For ease of discussion, the method 300 will be described below in conjunction with FIG. 1.

As shown in fig. 3, at block 305, computing device 155 first determines whether left turn signal 140 is green to indicate that vehicle 105 is passable. If so, process 300 proceeds to block 310 where computing device 155 sets stop line 125 of left-turn waiting area 120 to the to-be-parked position.

If computing device 155 determines at block 305 that left turn signal light 140 is not a green light but a red light, indicating that vehicle 105 is not passable, computing device 155 determines at block 315 whether straight-ahead signal light 135 is a green light or a yellow light, indicating that vehicle 105 is passable. If so, process 300 also proceeds to block 310, i.e., computing device 155 sets stop line 125 of left-turn waiting area 120 to the to-be-parked position.

If computing device 155 determines at block 315 that straight-ahead signal light 135 is not a green or yellow light, but a red light, indicating that vehicle 105 is impassable, computing device 155 sets straight-ahead stop line 120 to the pending stop position at block 320.

According to an embodiment of the present disclosure, when the left turn signal lamp 140 is a green lamp or the straight traveling signal lamp 135 is a green lamp or a yellow lamp, the stop line 130 of the waiting region 120 turning left may be determined as a stop line to be stopped. The vehicle 105 may then automatically enter the waiting area 120 for a left turn, making a parking decision based on the color of the left turn signal 140 before the stop line 125 of the waiting area 120. If the left turn signal 140 and the straight going signal 135 are other colors, a parking decision can be made based on the color of the straight going signal 135 before the stop line 130 at the intersection 115. In this way, the implementation of protected turns of the area to be turned is simplified.

Embodiments of the present disclosure also provide corresponding apparatuses for implementing the above methods or processes. Fig. 4 illustrates a schematic block diagram of an apparatus 400 for determining a parking position of an autonomous vehicle 105 in accordance with certain embodiments of the present disclosure.

As shown in fig. 4, the apparatus 400 may include a first determination module 410, a first setup module 420, and a second determination module 430. The first determination module 410 is configured to determine a status of at least one of a turn signal light and a straight-ahead signal light before the vehicle turns at the intersection. The first setting module 420 is configured to set a position of a first stop line of a waiting area for a turn as a to-be-stopped position if it is determined that a state of at least one of a turn signal lamp and a straight-ahead signal lamp indicates that the vehicle is passable. The second determination module 430 is configured to determine whether the vehicle is parked or continuing to travel at the location to be parked based on the subsequent state of the turn signal light.

In certain embodiments, the first determination module 410 may be configured to determine a status of a turn signal light. The first setting module 420 may be configured to set a position of a first stop line of a waiting area for a turn as a to-be-parked position if it is determined that the state of the turn signal light indicates that the vehicle is passable.

In some embodiments, the first setup module 420 may be further configured to: if the state of the turn signal lamp indicates that the vehicle cannot pass through, determining the state of a straight signal lamp; and setting the position of the first stop line of the waiting area for turning as a to-be-stopped position if it is determined that the state of the straight-ahead signal indicates that the vehicle is passable.

In certain embodiments, the first determination module 410 may be configured to determine the status of a straight-ahead signal light. The first setting module 420 may be configured to set a position of a first stop line of a waiting area for a turn as a to-be-stopped position if it is determined that the state of the straight-ahead signal indicates that the vehicle is passable.

In some embodiments, the apparatus 400 may further include a second setting module and a third determining module. The second setting module may be configured to set the position of the second stop line at the intersection as the to-be-stopped position if it is determined that the states of both the turn signal light and the straight-ahead signal light indicate that the vehicle is impassable. The third determination module may be configured to determine that the vehicle is parked in the to-be-parked position.

The elements included in apparatus 400 may be implemented in a variety of ways including software, hardware, firmware, or any combination thereof. In some embodiments, one or more of the units may be implemented using software and/or firmware, such as machine executable instructions stored on a storage medium. In addition to, or in the alternative to, machine-executable instructions, some or all of the elements in apparatus 400 may be implemented at least in part by one or more hardware logic components. By way of example, and not limitation, exemplary types of hardware logic components that may be used include Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standards (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and so forth.

FIG. 5 illustrates a block diagram of a computing device 500 in which one or more embodiments of the disclosure may be implemented. Computing device 500 is an example implementation of computing device 155 shown in fig. 1. It should be understood that the computing device 500 illustrated in FIG. 5 is merely exemplary and should not be construed as limiting in any way the functionality and scope of the embodiments described herein.

As shown in fig. 5, computing device 500 is in the form of a general purpose computing device. Components of computing device 500 may include, but are not limited to, one or more processors or processing units 510, memory 520, storage 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. The processing unit 510 may be a real or virtual processor and may be capable of performing various processes according to programs stored in the memory 520. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capabilities of computing device 500.

Computing device 500 typically includes a number of computer storage media. Such media may be any available media that is accessible by computing device 500 and includes, but is not limited to, volatile and non-volatile media, removable and non-removable media. Memory 520 may be volatile memory (e.g., registers, cache, Random Access Memory (RAM)), non-volatile memory (e.g., Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory), or some combination thereof. Storage 530 may be a removable or non-removable medium and may include a machine-readable medium, such as a flash drive, a magnetic disk, or any other medium that may be capable of being used to store information and/or data (e.g., training data for training) and that may be accessed within computing device 500.

Computing device 500 may further include additional removable/non-removable, volatile/nonvolatile storage media. Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to a bus (not shown) by one or more data media interfaces. Memory 520 may include a computer program product 525 having one or more program modules configured to perform the various methods or acts of the various embodiments of the disclosure.

The communication unit 540 enables communication with other computing devices over a communication medium. Additionally, the functionality of the components of computing device 500 may be implemented in a single computing cluster or multiple computing machines, which are capable of communicating over a communications connection. Thus, computing device 500 may operate in a networked environment using logical connections to one or more other servers, network Personal Computers (PCs), or another network node.

The input device 550 may be one or more input devices such as a mouse, keyboard, trackball, or the like. Output device 560 may be one or more output devices such as a display, speakers, printer, or the like. Computing device 500 may also communicate with one or more external devices (not shown), such as storage devices, display devices, sensors, etc., communication with one or more devices that enable a user to interact with computing device 500, or communication with any devices (e.g., network cards, modems, etc.) that enable computing device 500 to communicate with one or more other computing devices, as desired, via communication unit 540. Such communication may be performed via input/output (I/O) interfaces (not shown).

According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which one or more computer instructions are stored, wherein the one or more computer instructions are executed by a processor to implement the above-described method.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products implemented in accordance with the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various implementations of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing has described implementations of the present disclosure, and the above description is illustrative, not exhaustive, and not limited to the implementations disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The terminology used herein was chosen in order to best explain the principles of implementations, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the implementations disclosed herein.

Claims

1. A method of determining a parking location of an autonomous vehicle, comprising:

before the vehicle turns at the intersection, if the state of a turn signal lamp is determined to indicate that the vehicle can pass, setting the position of a first stop line of a waiting area of the turn instead of the position of a second stop line at the intersection as a position to be parked for judging whether to park;

in a case where it is determined that the state of the turn signal lamp indicates that the vehicle is impassable, setting a position of the first stop line of the waiting area of the turn as the to-be-stopped position if it is determined that the state of a straight signal lamp indicates that the vehicle is impassable; and

determining whether the vehicle is parked or continues to travel at the position to be parked based on the subsequent state of the turn signal lamp without making a determination as to whether to park for a second stop line at the intersection.

2. The method of claim 1, further comprising:

if the states of the turn signal lamp and the straight signal lamp indicate that the vehicle cannot pass through, setting the position of the second stop line at the intersection as the position to be parked to judge whether the vehicle is parked or not; and

determining that the vehicle is parked at the to-be-parked position.

3. An apparatus for determining a parking position of an autonomous vehicle, comprising:

a first determination module configured to determine states of a turn signal light and a straight-ahead signal light before the vehicle turns at an intersection;

a first setup module configured to:

if the state of the turn signal lamp indicates that the vehicle can pass through, setting the position of a first stop line of the waiting area of the turn and the position of a second stop line at the intersection as a position to be parked for judging whether to park; and

in a case where it is determined that the state of the turn signal lamp indicates that the vehicle is impassable, setting a position of the first stop line of the waiting area of the turn as the to-be-stopped position if it is determined that the state of the straight signal lamp indicates that the vehicle is impassable; and

a second determination module configured to determine whether the vehicle is parked or continues to travel at the to-be-parked position based on a subsequent state of the turn signal lamp without making a determination as to whether to park for a second stop line at the intersection.

4. The apparatus of claim 3, further comprising:

a second setting module configured to set the position of the second stop line at the intersection as the position to be parked to make a judgment as to whether or not to park, if it is determined that the states of both the turn signal lamp and the straight signal lamp indicate that the vehicle is impassable; and

a third determination module configured to determine that the vehicle is parked at the to-be-parked position.

5. A computing device, comprising:

a memory and a processor;

wherein the memory is to store one or more computer instructions, wherein the one or more computer instructions are to be executed by the processor to implement the method of any one of claims 1 to 2.

6. A computer readable storage medium having one or more computer instructions stored thereon, wherein the one or more computer instructions are executed by a processor to implement the method of any one of claims 1-2.