CN112180932A - Parking method, device and equipment and unmanned system - Google Patents
Parking method, device and equipment and unmanned system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The embodiment of the invention provides a parking method, a parking device, parking equipment and an unmanned system. The embodiment of the invention determines a first detection area on a map according to target parking position information and vehicle head direction information by receiving a parking instruction, wherein the parking instruction comprises the target parking position information and the vehicle head direction information of a vehicle, the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area, the actual physical area corresponding to the first detection area is scanned by laser radar based on the map determining the first detection area to detect whether obstacles exist in the first area and the second area or not to obtain a first detection result, and if the first detection result indicates that the obstacles exist in the first area and the second area, the current parking is determined as side parking, automatic intelligent parking is realized.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a parking method, a parking device, parking equipment and an unmanned driving system.
Background
In the field of unmanned vehicles, unmanned vehicles need to be automatically parked.
In practical application scenarios, the arrangement of parking spaces is different. In one case, the parking spaces are arranged side by side, namely the head is arranged at one side of the vehicle head, and the tail is arranged at one side of the vehicle tail; one situation is that the parking spaces are connected end to end, i.e. the head of one parking space is adjacent to the tail of another parking space. In the latter case, it is necessary to determine the parking pattern according to the specific situation around the parking space.
Disclosure of Invention
In order to overcome the problems in the related art, the invention provides a parking method, a parking device, parking equipment and an unmanned system, so that automatic intelligent parking is realized.
According to a first aspect of embodiments of the present invention, there is provided a parking method including:
receiving a parking instruction, wherein the parking instruction comprises target parking position information and head orientation information of a vehicle;
determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result;
and if the first detection result indicates that the obstacles exist in both the first area and the second area, determining that the parking is the side parking.
According to a second aspect of the embodiments of the present invention, there is provided a parking apparatus including:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving a parking instruction, and the parking instruction comprises target parking position information and head orientation information of a vehicle;
the first detection area determining module is used for determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
the first detection module is used for scanning an actual physical area corresponding to the first detection area based on the map of the first detection area, so as to detect whether obstacles exist in the first area and the second area, and obtain a first detection result;
and the first determining module is used for determining that the parking is the side parking if the first detection result indicates that the first area and the second area both have the obstacle.
According to a third aspect of embodiments of the present invention, there is provided a parking apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method according to any one of the first aspect.
According to a fourth aspect of the embodiments of the present invention, there is provided an unmanned system including a parking instruction transmitting apparatus and a parking apparatus, wherein:
the parking instruction sending equipment is used for generating a parking instruction and sending the parking instruction to the parking equipment;
the parking apparatus is configured to:
receiving a parking instruction, wherein the parking instruction comprises target parking position information and head orientation information of a vehicle;
determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result;
and if the first detection result indicates that the obstacles exist in both the first area and the second area, determining that the parking is the side parking.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, a parking instruction is received, the parking instruction comprises target parking position information and vehicle head orientation information of a vehicle, a first detection area is determined on a map according to the target parking position information and the vehicle head orientation information, the first detection area comprises a first area located in a set range in front of a parking space area corresponding to the target parking position information and a second area located in a set range behind the parking space area, on the basis of the map in which the first detection area is determined, laser radar scanning is carried out on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area or not, a first detection result is obtained, if the first detection result indicates that obstacles exist in the first area or the second area, the current parking is determined as side parking, automatic intelligent parking is realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present specification and together with the description, serve to explain the principles of the specification.
Fig. 1 is a flowchart illustrating a parking method according to an embodiment of the present invention.
Fig. 2 is a schematic view of the configuration of the first detection region.
Fig. 3 is a schematic position diagram of the second detection region and the third detection region.
Fig. 4 is a functional block diagram of a parking apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of embodiments of the invention, as detailed in the following claims.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of embodiments of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used to describe various information in embodiments of the present invention, the information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of embodiments of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The unmanned system installed on the vehicle can find out available parking spaces, namely empty parking spaces, from all the surrounding parking spaces, and all the available parking spaces can be parked in principle. However, the environment around available parking spaces is different, and different parking manners are required.
The parking method provided by the embodiment of the invention aims to determine a corresponding parking mode according to the environment around a parking space and realize automatic intelligent parking.
The parking method is explained in detail below by way of examples.
Fig. 1 is a flowchart illustrating a parking method according to an embodiment of the present invention. As shown in fig. 1, in this embodiment, the parking method may include:
s101, receiving a parking instruction, wherein the parking instruction comprises target parking position information and head direction information of a vehicle.
S102, determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area includes a first area located in a set range in front of a parking space area corresponding to the target parking position information and a second area located in a set range behind the parking space area.
S103, based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result.
And S104, if the first detection result indicates that the first area and the second area both have obstacles, determining that the parking is the side parking.
Herein, a device that performs a parking method according to an embodiment of the present invention is referred to as a parking device, which belongs to an unmanned system.
The unmanned system also comprises parking instruction sending equipment, and the parking instruction sending equipment is used for generating a parking instruction and sending the parking instruction to the parking equipment.
The target parking position information is position information of one available parking space selected for the vehicle. The vehicle head direction information refers to vehicle head direction information when the vehicle is parked on the parking space.
In an exemplary implementation process, in S102, determining a first detection area on a map according to the target parking position information and the vehicle head orientation information may include:
drawing a corresponding parking space area on a map according to the target parking position information;
determining a front direction and a rear direction of the parking space area according to the vehicle head orientation information, wherein the front direction is the same as the vehicle head direction corresponding to the vehicle head orientation information, and the rear direction is opposite to the vehicle head direction;
determining an area within a set range in the front direction of the parking space area as a first area, and determining an area within a set range in the rear direction of the parking space area as a second area; the first region and the second region constitute a first detection region.
In this embodiment, the setting range may be one parking space. Namely, one parking space is extended forwards from the parking space area as a first area, and one parking space is extended backwards from the parking space area as a second area.
For example. Fig. 2 is a schematic view of the configuration of the first detection region. Referring to fig. 2, an arrow indicates a direction of a vehicle head, a rectangle in which the arrow is located is a parking space area corresponding to the target parking position information, an adjacent parking space area of the parking space area in the same direction as the arrow is a first area, an adjacent parking space area of the parking space area opposite to the arrow is a second area, and both the first area and the second area belong to the first detection area.
It should be noted that, in other embodiments, the setting range may be set to be greater than or less than one parking space, but the setting range may include a range related to the current parking.
In this embodiment, the setting range is determined as a parking space, so that on one hand, it is avoided that an obstacle irrelevant to the current parking is detected due to an excessively large setting range, and on the other hand, it is also avoided that an obstacle relevant to the current parking is missed due to an excessively small setting range.
If an obstacle is present in the first area or the second area, it is determined that an obstacle is present in the first detection area, and at this time, parking in the non-side parking mode may cause the vehicle to collide with the obstacle in the first detection area, so that it is necessary to park in the side parking mode.
The side-position parking system is a parking system in which a vehicle is parked in a parking space from a side of the parking space, for example, from the right side of the parking space area in fig. 2. The non-side parking system means a parking system other than the side parking system, for example, a parking space is directly entered.
After the present parking is determined as the side parking, there are two types of side parking, that is, the left parking and the right parking, and therefore, the specific type of side parking can be determined by further detecting both side areas of the parking space area.
Therefore, in an exemplary implementation process, after S104, the method may further include:
determining a second detection area positioned on the left side of the parking space area and a third detection area positioned on the right side of the parking space area on a map according to the target parking position information and the vehicle head orientation information, wherein the second detection area and the third detection area are adjacent to the parking space area;
performing laser radar scanning on actual physical areas corresponding to the second detection area and the third detection area based on the determined maps of the second detection area and the third detection area to detect whether obstacles exist in the second detection area and the third detection area, so as to obtain a second detection result;
and determining the parking mode of the side position according to the second detection result.
In this embodiment, the position of the parking space area may be determined according to the target parking position information, and the left side and the right side of the parking space area may be determined according to the vehicle head orientation information.
In this embodiment, one parking space may extend leftward from the parking space area as the second detection area, and one parking space may extend rightward from the parking space area as the third detection area.
In an exemplary implementation, determining the parking manner at the side position according to the second detection result may include:
if the second detection result indicates that an obstacle exists in the second detection area and an obstacle does not exist in the third detection area, determining that the parking in the lateral direction is performed from the right side of the parking space area; or, if the second detection result indicates that no obstacle exists in the second detection area and an obstacle exists in the third detection area, determining that the parking in the lateral position is performed from the left side of the parking space area.
For example. Fig. 3 is a schematic position diagram of the second detection region and the third detection region. Referring to fig. 3, assuming that obstacles are present in both the front and rear of the parking space area, obstacle detection is performed on the second detection area (the area within the dotted-line frame on the left side of the parking space area in fig. 3) and the third detection area (the area within the dotted-line frame on the right side of the parking space area in fig. 3) in fig. 3, and since there is also an obstacle on the left side of the parking space area in fig. 3 but there is no obstacle on the right side, the parking method is performed in the lateral direction from the right side. The terms "left" and "right" herein refer to the left and right of a parking space.
When no obstacle is present in the second detection area and the third detection area, in principle, parking in a lateral direction is possible from either side of the parking space area. In the case of use, however, the path lengths traveled by the parked vehicles are different from one side to the other. In this case, the side from which the parking is performed may be selected according to the following embodiments, based on the principle of minimizing the path length.
In an exemplary implementation process, determining a parking manner in the side position according to the second detection result may further include:
if the second detection result indicates that no obstacle exists in the second detection area and the third detection area, determining the relative position information of the parking space area and the vehicle;
if the relative position information indicates that the vehicle is located on the left side of the parking space area, determining to park in the lateral direction from the left side of the parking space area; or, if the relative position information indicates that the vehicle is located on the right side of the parking space area, determining that the vehicle is parked in the side position from the right side of the parking space area.
The embodiment can shorten the length of a running path in the parking process, shorten the time for the parking process on one hand, and save the energy consumption of the vehicle on the other hand.
In one exemplary implementation, the parking method may further include:
and if the first detection result indicates that no obstacle exists in the first area or the second area, determining that the parking is not the parking in the side position.
In this embodiment, when the first detection result indicates that no obstacle exists in the first area or the second area, parking in a non-lateral position, for example, parking in a manner of directly entering a parking space, may be performed.
In the parking method provided by the embodiment of the present invention, a parking instruction is received, where the parking instruction includes target parking position information and vehicle head direction information of a vehicle, a first detection area is determined on a map according to the target parking position information and the vehicle head direction information, the first detection area includes a first area located in a set range in front of a parking space area corresponding to the target parking position information and a second area located in a set range behind the parking space area, based on the map in which the first detection area is determined, a laser radar scan is performed on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, so as to obtain a first detection result, and if the first detection result indicates that an obstacle exists in the first area or the second area, the parking is determined to be the side parking, and automatic intelligent parking is realized.
Based on the above method embodiment, the embodiment of the present invention further provides corresponding apparatus, device, and storage medium embodiments.
Fig. 4 is a functional block diagram of a parking apparatus according to an embodiment of the present invention. As shown in fig. 4, in this embodiment, the parking apparatus may include:
the receiving module 410 is configured to receive a parking instruction, where the parking instruction includes target parking position information and vehicle head orientation information of a vehicle;
a first detection area determining module 420, configured to determine a first detection area on a map according to the target parking position information and the vehicle head direction information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
a first detection module 430, configured to perform laser radar scanning on an actual physical area corresponding to the first detection area based on the map in which the first detection area is determined, so as to detect whether an obstacle exists in the first area and the second area, and obtain a first detection result;
the first determining module 440 is configured to determine that the parking is a side parking if the first detection result indicates that the first area and the second area both have an obstacle.
In an exemplary implementation, the first detection region determining module 420 may be specifically configured to:
drawing a corresponding parking space area on a map according to the target parking position information;
determining a front direction and a rear direction of the parking space area according to the vehicle head orientation information, wherein the front direction is the same as the vehicle head direction corresponding to the vehicle head orientation information, and the rear direction is opposite to the vehicle head direction;
determining an area within a set range in the front direction of the parking space area as a first area, and determining an area within a set range in the rear direction of the parking space area as a second area; the first region and the second region constitute a first detection region.
In an exemplary implementation, the set range is a parking space.
In an exemplary implementation, the apparatus may further include:
the second third detection area determining module is used for determining a second detection area positioned on the left side of the parking space area and a third detection area positioned on the right side of the parking space area on a map according to the target parking position information and the vehicle head orientation information;
the second detection module is used for scanning an actual physical area corresponding to the second detection area and the third detection area by using a laser radar based on the map of the second detection area and the map of the third detection area, so as to detect whether obstacles exist in the second detection area and the third detection area, and obtain a second detection result;
and the second determining module is used for determining the parking mode of the side position according to the second detection result.
In an exemplary implementation, the second determining module may be specifically configured to:
if the second detection result indicates that an obstacle exists in the second detection area and an obstacle does not exist in the third detection area, determining that the parking in the lateral direction is performed from the right side of the parking space area; or, if the second detection result indicates that no obstacle exists in the second detection area and an obstacle exists in the third detection area, determining that the parking in the lateral position is performed from the left side of the parking space area.
In an exemplary implementation process, the second determining module may be further specifically configured to:
if the second detection result indicates that no obstacle exists in the second detection area and the third detection area, determining the relative position information of the parking space area and the vehicle;
if the relative position information indicates that the vehicle is located on the left side of the parking space area, determining to park in the lateral direction from the left side of the parking space area; or, if the relative position information indicates that the vehicle is located on the right side of the parking space area, determining that the vehicle is parked in the side position from the right side of the parking space area.
In an exemplary implementation, the apparatus may further include:
and the third determining module is used for determining that the parking is the non-side parking position if the first detection result indicates that no obstacle exists in the first area or the second area.
The embodiment of the present invention further provides a parking apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the parking method according to any of the foregoing embodiments when executing the program.
The embodiment of the invention also provides an unmanned system, which comprises parking instruction sending equipment and parking equipment, wherein:
the parking instruction sending equipment is used for generating a parking instruction and sending the parking instruction to the parking equipment;
the parking apparatus is configured to:
receiving a parking instruction, wherein the parking instruction comprises target parking position information and head orientation information of a vehicle;
determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result;
and if the first detection result indicates that the obstacles exist in both the first area and the second area, determining that the parking is the side parking.
In an exemplary implementation process, determining a first detection area according to the target parking position information and the vehicle head orientation information includes:
drawing a corresponding parking space area on a map according to the target parking position information;
determining a front direction and a rear direction of the parking space area according to the vehicle head orientation information, wherein the front direction is the same as the vehicle head direction corresponding to the vehicle head orientation information, and the rear direction is opposite to the vehicle head direction;
determining an area within a set range in the front direction of the parking space area as a first area, and determining an area within a set range in the rear direction of the parking space area as a second area; the first region and the second region constitute a first detection region.
In an exemplary implementation, the set range is a parking space.
In an exemplary implementation, the method further includes:
determining a second detection area positioned on the left side of the parking space area and a third detection area positioned on the right side of the parking space area on a map according to the target parking position information and the vehicle head orientation information;
performing laser radar scanning on actual physical areas corresponding to the second detection area and the third detection area based on the determined maps of the second detection area and the third detection area to detect whether obstacles exist in the second detection area and the third detection area, so as to obtain a second detection result;
and determining the parking mode of the side position according to the second detection result.
In an exemplary implementation, determining a parking manner in the side position according to the second detection result includes:
if the second detection result indicates that an obstacle exists in the second detection area and an obstacle does not exist in the third detection area, determining that the parking in the lateral direction is performed from the right side of the parking space area; or, if the second detection result indicates that no obstacle exists in the second detection area and an obstacle exists in the third detection area, determining that the parking in the lateral position is performed from the left side of the parking space area.
In an exemplary implementation, the method further includes:
if the second detection result indicates that no obstacle exists in the second detection area and the third detection area, determining the relative position information of the parking space area and the vehicle;
if the relative position information indicates that the vehicle is located on the left side of the parking space area, determining to park in the lateral direction from the left side of the parking space area; or, if the relative position information indicates that the vehicle is located on the right side of the parking space area, determining that the vehicle is parked in the side position from the right side of the parking space area.
In an exemplary implementation, the method further includes:
and if the first detection result indicates that no obstacle exists in the first area or the second area, determining that the parking is not the parking in the side position.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the following operations:
receiving a parking instruction, wherein the parking instruction comprises target parking position information and head orientation information of a vehicle;
determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result;
and if the first detection result indicates that the obstacles exist in both the first area and the second area, determining that the parking is the side parking.
In one exemplary implementation, determining a first detection area on a map according to the target parking position information and the vehicle head orientation information includes:
drawing a corresponding parking space area on a map according to the target parking position information;
determining a front direction and a rear direction of the parking space area on a map according to the vehicle head orientation information, wherein the front direction is the same as the vehicle head direction corresponding to the vehicle head orientation information, and the rear direction is opposite to the vehicle head direction;
determining an area within a set range in the front direction of the parking space area as a first area, and determining an area within a set range in the rear direction of the parking space area as a second area; the first region and the second region constitute a first detection region.
In an exemplary implementation, the set range is a parking space.
In an exemplary implementation, the method further includes:
determining a second detection area positioned on the left side of the parking space area and a third detection area positioned on the right side of the parking space area on a map according to the target parking position information and the vehicle head orientation information;
performing laser radar scanning on actual physical areas corresponding to the second detection area and the third detection area based on the determined maps of the second detection area and the third detection area to detect whether obstacles exist in the second detection area and the third detection area, so as to obtain a second detection result;
and determining the parking mode of the side position according to the second detection result.
In an exemplary implementation, determining a parking manner in the side position according to the second detection result includes:
if the second detection result indicates that an obstacle exists in the second detection area and an obstacle does not exist in the third detection area, determining that the parking in the lateral direction is performed from the right side of the parking space area; or, if the second detection result indicates that no obstacle exists in the second detection area and an obstacle exists in the third detection area, determining that the parking in the lateral position is performed from the left side of the parking space area.
In an exemplary implementation, the method further includes:
if the second detection result indicates that no obstacle exists in the second detection area and the third detection area, determining the relative position information of the parking space area and the vehicle;
if the relative position information indicates that the vehicle is located on the left side of the parking space area, determining to park in the lateral direction from the left side of the parking space area; or, if the relative position information indicates that the vehicle is located on the right side of the parking space area, determining that the vehicle is parked in the side position from the right side of the parking space area.
In an exemplary implementation, the method further includes:
and if the first detection result indicates that no obstacle exists in the first area or the second area, determining that the parking is not the parking in the side position.
For the device and apparatus embodiments, as they correspond substantially to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution in the specification. One of ordinary skill in the art can understand and implement it without inventive effort.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Other embodiments of the present description will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This specification is intended to cover any variations, uses, or adaptations of the specification following, in general, the principles of the specification and including such departures from the present disclosure as come within known or customary practice within the art to which the specification pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the specification being indicated by the following claims.
It will be understood that the present description is not limited to the precise arrangements described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present description is limited only by the appended claims.
The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A method of parking, comprising:
receiving a parking instruction, wherein the parking instruction comprises target parking position information and head orientation information of a vehicle; determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result;
and if the first detection result indicates that the obstacles exist in both the first area and the second area, determining that the parking is the side parking.
2. The method of claim 1, wherein determining a first detection area on a map based on the target parking position information and the vehicle head orientation information comprises:
drawing a corresponding parking space area on a map according to the target parking position information;
determining a front direction and a rear direction of the parking space area according to the vehicle head orientation information, wherein the front direction is the same as the vehicle head direction corresponding to the vehicle head orientation information, and the rear direction is opposite to the vehicle head direction;
determining an area within a set range in the front direction of the parking space area as a first area, and determining an area within a set range in the rear direction of the parking space area as a second area; the first region and the second region constitute a first detection region.
3. The method of claim 1, wherein the set range is one slot.
4. The method of claim 1, further comprising:
determining a second detection area positioned on the left side of the parking space area and a third detection area positioned on the right side of the parking space area on a map according to the target parking position information and the vehicle head orientation information, wherein the second detection area and the third detection area are adjacent to the parking space area;
performing laser radar scanning on actual physical areas corresponding to the second detection area and the third detection area based on the determined maps of the second detection area and the third detection area to detect whether obstacles exist in the second detection area and the third detection area, so as to obtain a second detection result;
and determining the parking mode of the side position according to the second detection result.
5. The method of claim 4, wherein determining the manner of parking in the side position based on the second detection result comprises:
if the second detection result indicates that an obstacle exists in the second detection area and an obstacle does not exist in the third detection area, determining that the parking in the lateral direction is performed from the right side of the parking space area; or,
and if the second detection result indicates that no obstacle exists in the second detection area and an obstacle exists in the third detection area, determining that the parking in the side position is performed from the left side of the parking space area.
6. The method according to claim 5, wherein determining the manner of parking in the side position based on the second detection result further comprises:
if the second detection result indicates that no obstacle exists in the second detection area and the third detection area, determining the relative position information of the parking space area and the vehicle;
if the relative position information indicates that the vehicle is located on the left side of the parking space area, determining to park in the lateral direction from the left side of the parking space area; or,
and if the relative position information indicates that the vehicle is positioned on the right side of the parking space area, determining to park in the side position from the right side of the parking space area.
7. The method of claim 1, further comprising:
and if the first detection result indicates that no obstacle exists in the first area or the second area, determining that the parking is not the parking in the side position.
8. A parking apparatus, comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving a parking instruction, and the parking instruction comprises target parking position information and head orientation information of a vehicle;
the first detection area determining module is used for determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
the first detection module is used for scanning an actual physical area corresponding to the first detection area based on the map of the first detection area, so as to detect whether obstacles exist in the first area and the second area, and obtain a first detection result;
and the first determining module is used for determining that the parking is the side parking if the first detection result indicates that the first area and the second area both have the obstacle.
9. Parking apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements a method according to any one of claims 1 to 7.
10. An unmanned system, comprising a parking instruction transmitting apparatus and a parking apparatus, wherein:
the parking instruction sending equipment is used for generating a parking instruction and sending the parking instruction to the parking equipment;
the parking apparatus is configured to:
receiving a parking instruction, wherein the parking instruction comprises target parking position information and head orientation information of a vehicle;
determining a first detection area on a map according to the target parking position information and the vehicle head orientation information; the first detection area comprises a first area positioned in a set range in front of a parking space area corresponding to the target parking position information and a second area positioned in a set range behind the parking space area;
based on the map of the first detection area, performing laser radar scanning on an actual physical area corresponding to the first detection area to detect whether obstacles exist in the first area and the second area, and obtaining a first detection result;
and if the first detection result indicates that the obstacles exist in both the first area and the second area, determining that the parking is the side parking.
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| CN202011062999.4A CN112180932B (en) | 2020-09-30 | 2020-09-30 | Parking method, device, equipment and unmanned system |
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| CN202011062999.4A CN112180932B (en) | 2020-09-30 | 2020-09-30 | Parking method, device, equipment and unmanned system |
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