CN112562412A - Data processing method and device - Google Patents
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- CN112562412A CN112562412A CN202011419180.9A CN202011419180A CN112562412A CN 112562412 A CN112562412 A CN 112562412A CN 202011419180 A CN202011419180 A CN 202011419180A CN 112562412 A CN112562412 A CN 112562412A
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Abstract
The embodiment of the invention provides a data processing method and a data processing device, wherein the method comprises the following steps: in the parking process of a target parking space, a target parking position in the target parking space is determined, when at least two obstacle objects exist in the target parking space, a target obstacle object of a specified obstacle type is determined from the at least two obstacle objects, whether the target parking position meets a preset condition is judged, when the target parking position meets the preset condition is judged, the target parking position is updated according to other obstacle objects except the target obstacle object, and parking is carried out according to the updated target parking position. According to the embodiment of the invention, the target parking position is updated when at least two obstacles exist in the parking space, and the vehicle is parked according to the updated target parking position, so that the vehicle is parked at a better position, the collision event between the vehicle and the obstacles during parking is avoided, and the parking safety is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a data processing method and device.
Background
At present, obstacles such as a limit stop lever, a road edge and the like usually exist in a parking space, and the obstacles can limit the parking position of a vehicle in the parking space so as to avoid the collision of the vehicle with an object behind the parking space when the vehicle is parked.
However, in some complex parking scenes, a plurality of obstacles exist in the parking space at the same time, and as a limit stop lever and a road edge exist at the same time, it is difficult to determine the position of the vehicle in the parking space, for example, the position of the vehicle in the parking space is limited by only a single obstacle, so that the vehicle may collide with other obstacles, and a safety hazard exists.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for data processing that overcomes or at least partially solves the above mentioned problems, comprising:
a method of data processing, the method comprising:
determining a target parking position in a target parking space in a parking process aiming at the target parking space;
when detecting that at least two obstacle objects exist in the target parking space, determining a target obstacle object of a specified obstacle type from the at least two obstacle objects;
judging whether the target parking position meets a preset condition or not;
when the target parking position meets the preset condition, updating the target parking position according to other obstacle objects except the target obstacle object;
and parking according to the updated target parking position.
Optionally, when it is detected that at least two obstacle objects exist in the target parking space, determining a target obstacle object of a specified obstacle type from the at least two obstacle objects, includes:
acquiring the position of the barrier corresponding to the type of the specified barrier;
respectively determining barrier positions corresponding to the at least two barrier objects;
and determining a target obstacle object of the specified obstacle type from the at least two obstacle objects according to the obstacle positions corresponding to the at least two obstacle objects and the obstacle position corresponding to the specified obstacle type.
Optionally, the determining whether the target parking position meets a preset condition includes:
and when the target parking position and the obstacle positions corresponding to the other obstacle objects are detected to have an overlapping part, judging that the target parking position meets a preset condition.
Optionally, before the determining whether the target parking position meets a preset condition, the method further includes:
and updating the target parking position according to the barrier position corresponding to the target barrier object.
Optionally, when it is determined that the target parking position satisfies the preset condition, updating the target parking position according to other obstacle objects except the target obstacle object includes:
and updating the target parking position according to the barrier positions corresponding to the other barrier objects.
Optionally, the method further comprises:
and when the target parking position is judged not to meet the preset condition, parking according to the target parking position.
Optionally, the specified obstacle type is an obstacle type for a limit stop lever.
An apparatus for data processing, the apparatus comprising:
the target parking position determining module is used for determining a target parking position in a target parking space in the parking process aiming at the target parking space;
the target obstacle object determining module is used for determining a target obstacle object of a specified obstacle type from at least two obstacle objects when the target parking space is detected to have at least two obstacle objects;
the preset condition judgment module is used for judging whether the target parking position meets a preset condition or not;
the target parking position updating module is used for updating the target parking position according to other barrier objects except the target barrier object when the target parking position is judged to meet the preset condition;
and the parking module based on the updated target parking position is used for parking according to the updated target parking position.
A vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing a method of data processing as described above.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a method of data processing as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, a target parking position in a target parking space is determined in the parking process of the target parking space, when at least two obstacle objects are detected to exist in the target parking space, a target obstacle object of a specified obstacle type is determined from the at least two obstacle objects, whether the target parking position meets a preset condition is judged, when the target parking position meets the preset condition is judged, the target parking position is updated according to other obstacle objects except the target obstacle object, parking is carried out according to the updated target parking position, the target parking position is updated when at least two obstacles exist in the parking space, a vehicle is parked at a better position by parking according to the updated target parking position, and a collision event between the vehicle and the obstacle during parking is avoided, the parking safety is improved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating steps of a method for data processing according to an embodiment of the present invention;
FIG. 2 is a schematic view of a parking space according to an embodiment of the present invention;
FIG. 3 is a flow chart of steps in another method of data processing according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
the target parking space may be a parking space that can be used for parking, that is, an empty parking space, and the target parking position may be a position where the vehicle can park in the target parking space.
When the vehicle parks, a plurality of parking spaces can be found, a target parking space is determined from the plurality of parking spaces, and then the vehicle can park aiming at the target parking space.
In the process of parking for the target parking space, information for the target parking space can be acquired through sensing equipment in the vehicle, for example, the information for the target parking space is acquired through an ultrasonic radar, and then the target parking position in the target parking space can be determined according to the acquired information for the target parking space.
As shown in fig. 2, the information for the target parking space may include information of line segments AB, BC, CD, DE, EF, and a rectangular frame located in an inner area of the line segments BC, CD, DE may be represented as a target parking position.
the barrier object can be a barrier in a target parking space, the barrier object can include a limit stop lever, a road edge, a wall and the like, the barrier type can include a barrier type for the limit stop lever, a barrier type for the road edge and a barrier type for the wall, and the specified barrier type can be the barrier type for the limit stop lever.
After the target parking space in the target parking space is determined, whether the target parking space has the obstacle or not can be detected according to the information aiming at the target parking space, which is collected by the sensing equipment in the vehicle.
For example, sensing devices in the vehicle may be used to collect information on a target parking position in a target parking space, determine at least one collected measurement point, divide the target parking position into at least two sections according to a preset section width, determine position information of the collected measurement points, determine a section in which each measurement point is located according to the position information of the measurement points, count the number of the measurement points in each section, and determine that an obstacle object exists in the section in which the number of the measurement points is greater than the preset number.
Since the sensing device collects a plurality of dense measurement points when collecting information of the obstacle object, when it is detected that a large number of dense measurement points exist in a certain section of the target parking position, it can be considered that the obstacle object exists in the section.
In an embodiment of the present invention, the interval width may correspond to a current driving state of the vehicle, such as a vehicle speed, and a corresponding relationship between the interval width and the current driving state of the vehicle may be preset in the vehicle, so that the corresponding interval width may be determined according to the current driving state of the vehicle; the interval width may be preset manually.
When the obstacle is detected to exist in the target parking space, the section with the largest number of the measurement points may be determined as a max section, such as aa 'in fig. 2, from among the sections divided by the target parking position, and further, the section with the distance from the max section smaller than the preset distance may be excluded with the max section as a reference, and the section with the largest number of the measurement points may be determined as a second section, such as bb' in fig. 2, from among the sections with the distance from the max section smaller than the preset distance, and further, at least two obstacle objects existing in the target parking space may be determined.
The preset distance may correspond to a preset interval width, specifically, a value of the preset distance may be twice a value of the preset interval width, for example, when the interval width m is 0.05 m, the preset distance may be 0.1 m.
Sensing equipment such as radars and the like can have sensing errors, so that position information of measuring points acquired by the sensing equipment can have errors, namely the measuring points corresponding to the same obstacle object can exist in a plurality of adjacent intervals.
In practical application, the section with the distance from the section with the detected obstacle object smaller than the preset distance is excluded, and the section with the obstacle object is detected from the excluded section, so that the influence caused by the perception error is reduced, and the accuracy of obstacle object detection is improved.
When the target parking space is detected to have at least two obstacle objects, the obstacle type corresponding to the obstacle object can be determined, and then the obstacle type can be determined to be the obstacle object of the appointed obstacle type from the at least two obstacle objects, namely the target obstacle object.
In an embodiment of the present invention, when it is detected that there is no obstacle object in the target parking space, parking may be performed directly according to the target parking position, and when it is detected that there is only one obstacle object in the target parking space, the position of the obstacle object in the target parking space may be determined, and then the target parking position may be updated according to the position of the obstacle object in the target parking space, so as to perform parking according to the updated target parking position.
wherein the preset condition may include whether an obstacle object other than the target obstacle object is located within the target parking location.
After the target obstacle object of the specified obstacle type is determined, the positions corresponding to the other obstacle objects except the target obstacle object can be determined, and whether the other obstacle objects except the target obstacle object are located in the target parking position or not can be judged according to the positions corresponding to the other obstacle objects except the target obstacle object.
In practical applications, when it is determined that an obstacle object other than the target obstacle object is located within the target parking position, it may be determined that the target parking position satisfies the preset condition.
In an embodiment of the present invention, step 103 may include the following sub-steps:
and when the target parking position and the obstacle positions corresponding to the other obstacle objects are detected to have an overlapping part, judging that the target parking position meets a preset condition.
The preset condition may further include determining whether there is an overlapping portion between the target parking location and an obstacle location corresponding to another obstacle object, where the overlapping portion may include a completely overlapping portion and a partially overlapping portion.
After the target obstacle object of the specified obstacle type is determined, the position corresponding to the other obstacle object except the target obstacle object can be determined, and further, the position relation between the other obstacle object except the target obstacle object and the target parking position can be judged according to the position corresponding to the other obstacle object except the target obstacle object and the target parking position.
When the position relationship is an intersection relationship, a local overlapping part between the target parking position and other obstacle objects can be determined, and further the target parking position can be judged to meet a preset condition.
In an embodiment of the present invention, before step 103, the following steps may be further included:
and updating the target parking position according to the barrier position corresponding to the target barrier object.
After the target obstacle object of the specified obstacle type is determined, the obstacle position corresponding to the target obstacle object can be determined, and the target parking position can be updated according to the obstacle position corresponding to the target obstacle object.
Because the height of the target obstacle object is lower than that of the vehicle chassis, for example, a limit gear lever, when the vehicle drives into a target parking position with the target obstacle object, the vehicle cannot scratch the target obstacle object, but the vehicle can collide with the target obstacle object, so that the parking stability is influenced.
In practical application, the position of the obstacle corresponding to the target obstacle object can be determined, and then the target parking position can be updated to a position where the target parking position does not collide with the target obstacle right, namely, the wheels of the vehicle just reach the position of the obstacle corresponding to the target obstacle object, so that the collision event between the vehicle and the target obstacle object is avoided, the parking stability is improved, the vehicle can be stopped in the middle of the target parking space as far as possible, and the influence on other vehicles caused by the fact that the head of the vehicle protrudes out of the target parking space when the vehicle stops in the target parking space is reduced.
wherein the other obstacle objects than the target obstacle object may include a road edge, a wall, etc.
When it is determined that the target parking position satisfies the preset condition, the target parking position may be updated according to other obstacle objects except the target obstacle object.
In an embodiment of the present invention, step 104 may include the following sub-steps:
and updating the target parking position according to the barrier positions corresponding to the other barrier objects.
When the target parking position meets the preset condition, the positions corresponding to other obstacle objects except the target obstacle object can be determined, and then the target parking position can be updated according to the positions corresponding to the other obstacle objects.
Because the heights of other obstacle objects are higher than the height of a vehicle chassis, such as a wall, a road edge and the like, when a vehicle drives into a target parking position with other obstacle objects, the vehicle is easy to scratch with the other obstacle objects, damage is caused to the vehicle, and potential safety hazards exist.
In practical applications, when other obstacle objects are located within the target parking location, or, when there is an overlap between the target parking location and the other obstacle objects, the method can judge that the target parking position has the obstacles such as walls, road edges and the like which can not be crossed by the vehicle, can determine the positions corresponding to other obstacle objects except the target obstacle object, and then the target parking position can be updated to a position where the vehicle can not be scraped by other barrier objects, namely the position corresponding to the vehicle tail in the vehicle is just coincided with the position of the obstacle corresponding to other obstacle objects, so as to avoid the rubbing event between the vehicle and other barrier objects, improve the parking safety, ensure that the vehicle can be parked in the middle of the target parking space as far as possible, when the vehicle stops at the target parking space, the influence of the vehicle head protruding out of the target parking space on other vehicles is reduced.
And 105, parking according to the updated target parking position.
After the target parking position is updated, parking can be performed according to the updated target parking position.
In an embodiment of the present invention, the method may further include the following steps:
and when the target parking position is judged not to meet the preset condition, parking according to the target parking position.
When the target parking position is judged not to meet the preset condition, it can be shown that no other obstacle object exists in the target parking position, that is, no obstacle interfering with the vehicle exists, and then the vehicle can be parked directly according to the target parking position.
In the embodiment of the invention, a target parking position in a target parking space is determined in the parking process of the target parking space, when at least two obstacle objects are detected to exist in the target parking space, a target obstacle object of a specified obstacle type is determined from the at least two obstacle objects, whether the target parking position meets a preset condition is judged, when the target parking position meets the preset condition is judged, the target parking position is updated according to other obstacle objects except the target obstacle object, parking is carried out according to the updated target parking position, the target parking position is updated when at least two obstacles exist in the parking space, a vehicle is parked at a better position by parking according to the updated target parking position, and a collision event between the vehicle and the obstacle during parking is avoided, the parking safety is improved.
Referring to fig. 3, a flowchart illustrating steps of another data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
step 302, obtaining the position of an obstacle corresponding to the type of the specified obstacle;
the obstacle position corresponding to the specified obstacle type may be a position determined by an image device in the vehicle, and the image device may include an Around View Monitor (AVM).
After the target parking space in the target parking space is determined, image data for the target parking space can be collected in real time by adopting image equipment in the vehicle, and then at least one target obstacle object of the appointed obstacle type can be determined from the collected image data for the target parking space.
After the target obstacle object of the specified obstacle type is determined, the obstacle position corresponding to the target obstacle object may be determined according to the image data corresponding to the target obstacle object.
For example, the obstacle position corresponding to the target obstacle object may be calculated from the depth information.
after the obstacle position corresponding to the target obstacle object is determined based on the image data, whether the obstacle exists in the target parking space can be detected according to the information aiming at the target parking space, which is collected by sensing equipment in the vehicle.
When detecting that at least two obstacle objects exist in the target parking space, the obstacle positions corresponding to the at least two obstacle objects can be determined.
In practical application, the section and the section width where the at least two obstacle objects are located can be determined, and further the obstacle positions corresponding to the at least two obstacle objects can be determined according to the section and the section width where the obstacle objects are located and the target parking position.
For example, the sections in the target parking position may be numbered according to the direction of the target parking position, for example, the direction from point C to point B in fig. 2, the section where one of the obstacle objects is located, such as the max section or the second section, may be determined to be the 5 th section, and the width of the determined section is 0.2 meters, and further, the distance between the obstacle object and the bottom of the target parking position may be determined to be 1 meter, and the obstacle position corresponding to the obstacle object may be determined according to the target parking position.
Step 304, determining a target obstacle object of the specified obstacle type from the at least two obstacle objects according to the obstacle positions corresponding to the at least two obstacle objects and the obstacle position corresponding to the specified obstacle type;
after determining the obstacle positions corresponding to the at least two obstacle objects based on the sensing device, the obstacle positions corresponding to the at least two obstacle objects determined based on the sensing device may be compared with the obstacle positions corresponding to the target obstacle objects determined based on the image device, and then the obstacle position having the smallest deviation from the obstacle positions determined based on the image device may be determined from the at least two obstacle positions determined based on the sensing device, and the obstacle object corresponding to the obstacle position is determined to be the target obstacle object.
For example, the obstacle position corresponding to the target obstacle object may be determined by the AVM, the obstacle position corresponding to the obstacle object located in the max section may be determined, the distance between the obstacle position determined by the AVM and the max section is determined to be d _ max, the obstacle position corresponding to the obstacle object located in the second section may be determined, the distance between the obstacle position determined by the AVM and the second section is determined to be d _ second, a section with a smaller distance may be determined from at least two distances, that is, from d _ max and d _ second, and when d _ max < d _ second, the obstacle object located in the max section may be determined to be the target obstacle object.
step 306, when the target parking position is judged to meet the preset condition, updating the target parking position according to other obstacle objects except the target obstacle object;
and 307, parking according to the updated target parking position.
In the embodiment of the invention, in the process of parking for a target parking space, a target parking position in the target parking space is determined, obstacle positions corresponding to the specified obstacle types are obtained, obstacle positions corresponding to the at least two obstacle objects are respectively determined, a target obstacle object of the specified obstacle type is determined from the at least two obstacle objects according to the obstacle positions corresponding to the at least two obstacle objects and the obstacle position corresponding to the specified obstacle type, whether the target parking position meets a preset condition or not is judged, when the target parking position meets the preset condition, the target parking position is updated according to other obstacle objects except the target obstacle object, parking is carried out according to the updated parking target position, and the target parking position is updated when the parking space has at least two obstacles, the obstacle object of the specified type is determined by obtaining the position of the obstacle, so that the obstacle detection accuracy is improved, the vehicle is parked at a better position by parking according to the updated target parking position, the collision event between the vehicle and the obstacle when the vehicle is parked is avoided, and the parking safety is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention is shown, which may specifically include the following modules:
a target parking position determining module 401, configured to determine a target parking position in a target parking space in a parking process for the target parking space;
a target obstacle object determination module 402, configured to determine, when it is detected that at least two obstacle objects exist in the target parking space, a target obstacle object of a specified obstacle type from the at least two obstacle objects;
a preset condition judgment module 403, configured to judge whether the target parking position meets a preset condition;
a target parking position updating module 404, configured to update the target parking position according to other obstacle objects except the target obstacle object when it is determined that the target parking position meets a preset condition;
and a parking module 405 based on the updated target parking position, for parking according to the updated target parking position.
In an embodiment of the present invention, the target obstacle object determining module 402 includes:
the barrier position acquisition submodule corresponding to the specified barrier type is used for acquiring the barrier position corresponding to the specified barrier type;
the obstacle position determining submodule corresponding to the obstacle object is used for determining the obstacle positions corresponding to the at least two obstacle objects respectively;
and the target obstacle object determination submodule of the specified obstacle type is used for determining the target obstacle object of the specified obstacle type from the at least two obstacle objects according to the obstacle positions corresponding to the at least two obstacle objects and the obstacle position corresponding to the specified obstacle type.
In an embodiment of the present invention, the preset condition determining module 403 includes:
and the overlap part detection submodule is used for judging that the target parking position meets a preset condition when the overlap part exists between the target parking position and the obstacle position corresponding to the other obstacle object.
In an embodiment of the present invention, the apparatus further includes:
and the target parking position updating module is used for updating the target parking position according to the barrier position corresponding to the target barrier object.
In an embodiment of the present invention, the target parking location updating module 404 includes:
and the target parking position updating submodule based on other barrier objects is used for updating the target parking position according to the barrier positions corresponding to the other barrier objects.
In an embodiment of the present invention, the apparatus further includes:
and the parking module based on the target parking position is used for parking according to the target parking position when the target parking position is judged not to meet the preset condition.
In an embodiment of the present invention, the specified obstacle type is an obstacle type for a limit stop lever.
In the embodiment of the invention, a target parking position in a target parking space is determined in the parking process of the target parking space, when at least two obstacle objects are detected in the target parking space, a target obstacle object of a specified obstacle type is determined from the at least two obstacle objects, whether the target parking position meets a preset condition is judged, when the target parking position meets the preset condition is judged, the target parking position is updated according to other obstacle objects except the target obstacle object, parking is carried out according to the updated target parking position, the target parking position is updated when at least two obstacles exist in the parking space, the vehicle is parked at the optimal position by parking according to the updated target parking position, and the collision event between the vehicle and the obstacles during parking is avoided, the parking safety is improved.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for processing data as above is implemented.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for processing data as above is implemented.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and apparatus for data processing provided above are described in detail, and a specific example is applied herein to illustrate the principles and embodiments of the present invention, and the above description of the embodiment is only used to help understand the method and core ideas of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of data processing, the method comprising:
determining a target parking position in a target parking space in a parking process aiming at the target parking space;
when detecting that at least two obstacle objects exist in the target parking space, determining a target obstacle object of a specified obstacle type from the at least two obstacle objects;
judging whether the target parking position meets a preset condition or not;
when the target parking position meets the preset condition, updating the target parking position according to other obstacle objects except the target obstacle object;
and parking according to the updated target parking position.
2. The method of claim 1, wherein said determining a target obstacle object of a specified obstacle type from said at least two obstacle objects comprises:
acquiring the position of the barrier corresponding to the type of the specified barrier;
respectively determining barrier positions corresponding to the at least two barrier objects;
and determining a target obstacle object of the specified obstacle type from the at least two obstacle objects according to the obstacle positions corresponding to the at least two obstacle objects and the obstacle position corresponding to the specified obstacle type.
3. The method according to claim 1 or 2, wherein the determining whether the target parking location satisfies a preset condition comprises:
and when the target parking position and the obstacle positions corresponding to the other obstacle objects are detected to have an overlapping part, judging that the target parking position meets a preset condition.
4. The method of claim 3, wherein prior to said determining whether the target parking location satisfies a preset condition, further comprising:
and updating the target parking position according to the barrier position corresponding to the target barrier object.
5. The method of claim 3, wherein updating the target parking location based on other obstacle objects than the target obstacle object comprises:
and updating the target parking position according to the barrier positions corresponding to the other barrier objects.
6. The method of claim 1, further comprising:
and when the target parking position is judged not to meet the preset condition, parking according to the target parking position.
7. The method of claim 1, wherein the specified obstacle type is an obstacle type for a check link.
8. An apparatus for data processing, the apparatus comprising:
the target parking position determining module is used for determining a target parking position in a target parking space in the parking process aiming at the target parking space;
the target obstacle object determining module is used for determining a target obstacle object of a specified obstacle type from at least two obstacle objects when the target parking space is detected to have at least two obstacle objects;
the preset condition judgment module is used for judging whether the target parking position meets a preset condition or not;
the target parking position updating module is used for updating the target parking position according to other barrier objects except the target barrier object when the target parking position is judged to meet the preset condition;
and the parking module based on the updated target parking position is used for parking according to the updated target parking position.
9. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of data processing as claimed in any one 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 a method of data processing according to any one of claims 1 to 7.
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Cited By (1)
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| CN113246990A (en) * | 2021-05-24 | 2021-08-13 | 广州小鹏自动驾驶科技有限公司 | Method and device for determining position of obstacle and vehicle |
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Effective date of registration: 20240229 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |