CN112660115A - Data processing method and device - Google Patents
Data processing method and device Download PDFInfo
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- CN112660115A CN112660115A CN202110005033.5A CN202110005033A CN112660115A CN 112660115 A CN112660115 A CN 112660115A CN 202110005033 A CN202110005033 A CN 202110005033A CN 112660115 A CN112660115 A CN 112660115A
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Abstract
The embodiment of the invention provides a data processing method and a data processing device, which are applied to a vehicle-mounted terminal, wherein the vehicle-mounted terminal has a preset calculation period, and the method comprises the following steps: when a vehicle enters an automatic parking state, acquiring at least one first candidate parking space; determining a target parking space from the first candidate parking spaces; calculating an automatic parking path of the target parking space in the preset calculation period; and outputting the automatic parking path. According to the embodiment of the invention, the automatic parking path is calculated only for the target parking space in a single preset calculation period, and the identified automatic parking path of the first candidate parking space is circularly calculated in a plurality of preset calculation periods, so that the calculation limit of the vehicle-mounted terminal is released, and the calculation capability of the vehicle-mounted terminal and the identification accuracy of the parking space are improved.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a data processing method and a data processing device.
Background
As the usage rate of vehicles increases, the application of the automatic parking function is more and more common when a driver parks the vehicle. In the automatic parking function, a plurality of available parking spaces are provided on a large screen or a meter of the vehicle to select the parking space for the user to park. The parking space has two meanings, namely, a large enough (the vehicle can be parked without collision) accessible space exists in the sensing space; and the second is that a parking path which can be executed by the vehicle exists between the current pose and the final pose of the vehicle.
In the prior art, in the process of automatic parking, a plurality of candidate parking spaces are obtained at a time, automatic parking paths of all the candidate parking spaces are planned in a calculation period, and calculation results of all the candidate parking spaces are output at the same time, so that the parking spaces are flashed.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are proposed to provide a data processing method and a corresponding data processing apparatus that overcome or at least partially solve the above problems.
The embodiment of the invention discloses a data processing method, which is applied to a vehicle-mounted terminal, wherein the vehicle-mounted terminal has a preset calculation period, and the method comprises the following steps:
when a vehicle enters an automatic parking state, acquiring at least one first candidate parking space;
determining a target parking space from the first candidate parking spaces;
calculating an automatic parking path of the target parking space in the preset calculation period;
and outputting the automatic parking path.
Optionally, after the step of calculating the automatic parking path of the target parking space in the preset calculation period, the method further includes:
and adding an identifier to the first candidate parking space corresponding to the automatic parking path to generate an identified parking space.
Optionally, the step of determining a target parking space from the first candidate parking spaces includes:
removing the marked parking space from the first candidate parking space to obtain a second candidate parking space;
and determining a target parking space from the second candidate parking spaces.
Optionally, the method further comprises:
and when the second candidate parking space is empty, updating the first candidate parking space.
Optionally, the step of calculating an automatic parking path of the target parking space in the preset calculation period includes:
in the preset calculation period, acquiring the current pose of the vehicle and the position of a target parking space;
judging whether a path intermediate point exists between the current pose and the position;
when the path intermediate point exists, taking an unpausing path as an automatic parking path, and generating the unpausing path intermediate point as a target point;
and when the path intermediate point does not exist, taking the undissolved parking path as the automatic parking path.
Optionally, the outputting the automatic parking path includes:
when the automatic parking path is a parking-unlocking path, outputting path data corresponding to the automatic parking path;
and when the automatic parking path is the non-solved parking path, outputting that the automatic parking path is empty.
Optionally, the vehicle-mounted terminal includes a vehicle-mounted display, and the method further includes:
when the automatic parking path is a parking releasing path, displaying a first candidate parking space corresponding to the automatic parking path on the vehicle-mounted display;
receiving a selection instruction of a user on the vehicle-mounted display aiming at the first candidate parking position;
and responding to the selection instruction, and controlling the vehicle to automatically park by adopting the path data corresponding to the first candidate parking space.
The embodiment of the invention also discloses a data processing device, which is applied to a vehicle-mounted terminal, wherein the vehicle-mounted terminal has a preset calculation period, and the device comprises:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring at least one first candidate parking space when a vehicle enters an automatic parking state;
the screening module is used for determining a target parking position from the first candidate parking positions;
the calculation module is used for calculating an automatic parking path of the target parking space in the preset calculation period;
and the output module is used for outputting the automatic parking path.
Optionally, the apparatus further comprises:
and the identification module is used for adding identifications to the first candidate parking spaces corresponding to the automatic parking path to generate identification parking spaces.
Optionally, the screening module comprises:
a removing submodule, configured to remove the identified parking space from the first candidate parking space to obtain a second candidate parking space;
and the selection submodule is used for determining a target parking position from the second candidate parking positions.
The embodiment of the invention also discloses a vehicle comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more of the methods described above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, when the vehicle enters the automatic parking state, at least one first candidate parking space is obtained; determining a target parking space from the first candidate parking spaces; calculating an automatic parking path of the target parking space in the preset calculation period; and outputting the automatic parking path. The automatic parking path is calculated only for the target parking space in a single preset calculation period, the automatic parking path of the identified first candidate parking space is circularly calculated in a plurality of preset calculation periods, the calculation limit of the vehicle-mounted terminal is released, and the calculation capacity of the vehicle-mounted terminal and the identification accuracy of the parking space are improved.
Drawings
FIG. 1 is a flow chart of the steps of one data processing method embodiment of the present invention;
fig. 2 is a block 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.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a data processing method of the present invention is applied to a vehicle-mounted terminal having a preset calculation cycle.
It should be noted that the duration corresponding to the preset calculation period is the time required by the vehicle-mounted terminal to calculate the candidate parking space, and a person skilled in the art may set a suitable preset calculation period duration according to actual needs, which is not limited in the embodiment of the present invention.
The method may specifically comprise the steps of:
when the vehicle speed is lower than a preset value, a user triggers automatic parking operation, and when at least one of parking frame lines of parking spaces around the vehicle is identified, the vehicle is judged to enter an automatic parking state.
When the vehicle enters the automatic parking state, the vehicle-mounted terminal acquires at least one first candidate which is identified by the vehicle and can be parked. The first candidate parking space can be identified through a vision sensor of a panoramic all-round system on the vehicle, and the vehicle-mounted terminal obtains at least one first candidate parking space by receiving an image signal sent by the vision sensor.
if the first candidate parking space is one, determining the first candidate parking space as a target parking space; and if the first candidate parking spaces are more than one, screening out the target parking spaces from the plurality of first candidate parking spaces.
103, calculating an automatic parking path of the target parking space in the preset calculation period;
in a single preset calculation period, an automatic parking path of a target parking space is calculated. The calculated automatic parking path result can be a specific actual driving path of the vehicle during automatic parking; the parking space can be empty, namely the vehicle cannot be automatically parked at the target parking space.
Optionally, the step of calculating an automatic parking path of the target parking space in the preset calculation period includes:
step S1031, in the preset calculation period, acquiring the current pose of the vehicle and the position of a target parking space;
and when the single preset calculation period starts, acquiring the pose of the vehicle at the current moment and the position of the target parking space. The pose of the vehicle can comprise at least one of the vehicle speed at the current moment of the vehicle, the actual position information of the vehicle, and the rotating angle of the current steering operation device of the vehicle. The position of the target parking space may be position information of an edge of the target parking space.
A substep S1032 of judging whether a path intermediate point exists between the current pose and the position;
performing geometric exploration on the current pose information and the position of the target parking position by a geometric solving method, and judging whether a path intermediate point exists between the current pose of the vehicle and the position of the target parking position; the intermediate point of the path means that the vehicle starts to control to park in the parking space after moving to the point.
A substep S1033, when the path middle point exists, taking a route with parking assistance as an automatic parking path, and generating the route with parking assistance by taking the path middle point as a target point;
the solved path means that at least one parking motion path capable of automatic parking exists, and the parking motion path is generated by taking a path middle point as a target point. When a path intermediate point exists between the current pose information of the vehicle and the position of the target parking space through geometric solving and exploring, namely for the current target parking space, at least one parking path capable of automatically parking exists, and the path with the solution is used as an automatic parking path.
And a sub-step S1034, when the path middle point does not exist, taking the undissociated parking path as the automatic parking path.
The non-solution path means that no parking motion path capable of automatic parking exists, and the automatic parking is used for parking the vehicle into the target parking space capable of parking. When no path intermediate point exists between the current pose information of the vehicle and the position of the target parking space through geometric solving and exploring, namely for the current target parking space, the vehicle does not have a parking path capable of automatically parking in the current vehicle pose, and the automatic parking path is an unsolved parking path.
Optionally, after the step of calculating the automatic parking path of the target parking space in the preset calculation period, the method further includes:
and step S1, adding an identifier to the first candidate parking space corresponding to the automatic parking path to generate an identifier parking space.
Adding an identifier to the first candidate parking space with the calculated automatic parking path to generate an identified parking space; and marking the first candidate parking space in which the automatic parking path has been calculated in the first candidate parking space obtained at the same time, so that the calculated parking space in the first candidate parking space can be distinguished. The method for adding the identification can display '1' on the marker bit of the first candidate parking space of which the automatic parking path is calculated by setting the marker bit to generate the identification parking space.
Optionally, the step of determining a target parking space from the first candidate parking spaces includes:
substep 1021, removing the marked parking space from the first candidate parking space to obtain a second candidate parking space;
and removing the marked parking spaces from the first candidate parking spaces acquired at the same time, and leaving a plurality of second candidate parking spaces of the first candidate parking spaces. The removing method can be a method of calculating by a set difference operation; for example: and taking the first candidate parking space acquired at the same time as an element of the set A, taking the marked parking space as an element of the set B, and taking the second candidate parking space as { A-B }.
And a substep 1022 of determining a target parking space from the second candidate parking spaces.
After the second candidate parking space is determined, the candidate parking space with the earliest recognition time is selected from the second candidate parking spaces according to the recognition time of the candidate parking spaces in the second candidate parking spaces to be determined as the target parking space, so that the calculation is performed in the next single preset calculation period. Or selecting target parking spaces from left to right and from top to bottom according to the relative positions of the candidate parking spaces in the second candidate parking spaces; those skilled in the art may also determine the sequence according to different ordering rules according to actual requirements, which is not limited in the embodiment of the present invention.
Optionally, the method further comprises:
step S2, when the second candidate parking space is empty, updating the first candidate parking space.
And when the second candidate parking space is empty, calculating the first candidate parking spaces acquired at the same time, acquiring the newly identified parking space again, and updating the first candidate parking space.
And 104, outputting the automatic parking path.
And after each single preset calculation period is finished, outputting the automatic parking path calculated by the preset calculation period.
Optionally, the outputting the automatic parking path includes:
step S1041, when the automatic parking path is a parking-off path, outputting path data corresponding to the automatic parking path;
and when the automatic parking path is a parking-releasing path, namely at least one path capable of automatically parking exists, outputting the path data corresponding to the calculated automatic parking path, wherein the path data is a specific line of the automatic parking path. In addition, when two or more automatic parking paths exist, the optimal path data corresponding to the automatic parking path can be selected according to the selection rule and output. The selection rule can be that according to the length of the automatic parking path, the automatic parking path with the minimum length is selected; those skilled in the art may also set different selection rules according to actual requirements, which is not limited in the embodiment of the present invention.
And a substep S1042, when the automatic parking path is a non-parking path, outputting the automatic parking path as empty.
When the automatic parking path is a non-solution parking path, the automatic parking path is output in a null data form because no path capable of automatic parking exists, and null data represents that the automatic parking path does not exist.
Optionally, the vehicle-mounted terminal includes a vehicle-mounted display, and the method further includes:
step S3, when the automatic parking path is a parking-releasing path, displaying a first candidate parking space corresponding to the automatic parking path on the vehicle-mounted display;
the vehicle-mounted display is a display device which is arranged on a vehicle and can interact with a user, display vehicle information and/or perform function setting.
When the automatic parking path is the parking-off path, at least one path capable of automatic parking exists, the vehicle can be controlled to automatically park according to the automatic parking path, but for a user, the user does not know that the vehicle identifies candidate parking spaces capable of automatic parking, so that the first candidate parking space corresponding to the automatic parking path can be displayed on the vehicle-mounted display, and the user can select the candidate parking spaces to automatically park. The display method of the first candidate parking space is to combine the real-time surrounding environment image of the vehicle and display the virtual parking space frame line of the first candidate parking space on the basis of the surrounding environment image; the surrounding image may be formed by an image taken by an onboard camera on the vehicle.
In addition, when the automatic parking path is a non-parking-solution-free path, since the first candidate parking space corresponding to the automatic parking path does not exist in the calculation, the path capable of automatic parking does not exist, and therefore the first candidate parking space corresponding to the automatic parking path as a parking-solution-free path is not displayed on the vehicle-mounted display.
Step S4, receiving a selection instruction of a user on the vehicle-mounted display aiming at the first candidate parking space;
after the first candidate parking space is displayed on the vehicle-mounted display, the user selects the first candidate parking space for automatic parking, and when the user selects the first candidate parking space on the vehicle-mounted display, a selection instruction for the first candidate parking space is received. The selection instruction can be a touch selection instruction; those skilled in the art can also select different types of selection instructions according to actual design requirements, and the embodiments of the present invention are not limited thereto.
And step S5, responding to the selection instruction, and adopting the path data corresponding to the first candidate parking space to control the vehicle to automatically park.
And responding to a selection instruction of the user for the first candidate parking space, and adopting the path data corresponding to the first candidate parking space selected by the user to control the vehicle to perform automatic parking, wherein the automatic parking process can be realized by controlling the speed and the advancing direction of the vehicle to be path points of the path data through which the vehicle can travel, and parking the vehicle into the parking space according to the path points.
According to the embodiment of the invention, when the vehicle enters the automatic parking state, at least one first candidate parking space is obtained; determining a target parking space from the first candidate parking spaces; calculating an automatic parking path of the target parking space in the preset calculation period; and outputting the automatic parking path. The automatic parking path is calculated only for the target parking space in a single preset calculation period, the automatic parking path of the identified first candidate parking space is circularly calculated in a plurality of preset calculation periods, the calculation limit of the vehicle-mounted terminal is released, and the calculation capacity of the vehicle-mounted terminal and the identification accuracy of the parking space are improved.
In order to further clarify the embodiments of the present invention to those skilled in the art, the following examples are given.
The vehicle-mounted terminal comprises an SD (SlotDetect, parking space detection module) module and a PP (PathPlan, path planning module) module; the SD module can detect the parking spaces and identify candidate parking spaces; and the PP can calculate the automatic parking path of the candidate parking space. The operation period of the SD module is 50 milliseconds, and the calculation period of the PP module is 100 milliseconds.
When the automatic parking path calculation is performed on the candidate parking spaces, due to the fact that the working conditions of multiple parking spaces exist, the calculation capacity of vehicle-mounted hardware is limited, in the prior art, each fixed calculation period often cannot be solved or the solved solution is not the optimal solution, and if the solution solved in the calculation period is used in each calculation period as a sufficient necessary condition for releasing the parking spaces, the parking spaces can be enabled to be flashed.
When the 6 first candidate parking spaces are currently identified, in the prior art scheme, the calculation of the automatic parking path for the 6 first candidate parking spaces takes 600 milliseconds, in each calculation period of 100 milliseconds, automatic parking paths of 6 first candidate parking spaces are respectively calculated, i.e., within 100 milliseconds, the automatic parking paths of the 6 first candidate parking spaces are sequentially calculated, the calculation is then repeated 6 times in 600 milliseconds, each time each first candidate parking space is calculated for a shorter time, for a complex first candidate parking space, there may be a parking-off path, since the calculation time is short, when the calculation is not finished, the calculation period is finished, the automatic parking path of the first candidate parking space is a non-solution parking path, the user cannot select the first candidate parking space for parking, and the recognition degree of the parking space is low. Moreover, since each calculation time is short and the calculation is repeated, for example, the automatic parking path for calculating the first candidate parking space in 0 to 100 milliseconds is a path with parking space, and the automatic parking path for calculating the first candidate parking space in 200 to 300 milliseconds is a path without parking space, which may cause a phenomenon of flashing parking space.
In the embodiment of the invention, when the vehicle is in an automatic parking state, after the SD (SlotDetect parking space detection module) generates the first candidate parking space, the first candidate parking space is transmitted to the PP (PathPlan path planning module). After receiving the N first candidate parking spaces, the PP module will start to plan the N first candidate parking spaces, and perform automatic parking experience calculation on one first candidate parking space in one PP period (100ms) and return a planning result. After the PP module needs to complete all the received tasks for planning the parking spaces of the first candidate, the PP module takes a new parking space of the first candidate from the SD module. Wherein N is a positive integer of 1 or more and 6 or less. The following is a detailed description:
the SD module generates 6 first candidate parking spaces and transmits the 6 first candidate parking spaces to the PP module.
The PP module starts to calculate the 6 first candidate parking slots:
calculating an automatic parking path of a first candidate parking space A within 1-100 milliseconds;
and calculating the automatic parking path of the first candidate parking space B in 101-200 milliseconds, and if the automatic parking path of the first candidate parking space A is a parking solving path, sending the first candidate parking space A to a vehicle-mounted large screen for displaying.
And calculating the automatic parking path of the first candidate parking space C in 201-300 milliseconds, and if the automatic parking path of the first candidate parking space B is a parking solving path, sending the first candidate parking space B to a vehicle-mounted large screen for displaying.
And calculating an automatic parking path of the first candidate parking space D in 301-400 milliseconds, and if the automatic parking path of the first candidate parking space C is a parking solving path, sending the first candidate parking space C to a vehicle-mounted large screen for displaying.
And in 401-500 milliseconds, calculating an automatic parking path of the first candidate parking space E, and if the automatic parking path of the first candidate parking space D is a parking solving path, sending the first candidate parking space D to a vehicle-mounted large screen for displaying.
And calculating the automatic parking path of the first candidate parking space F in 501-600 milliseconds, and if the automatic parking path of the first candidate parking space E is a parking solving path, sending the first candidate parking space E to a vehicle-mounted large screen for displaying.
At the end of 600 milliseconds, the new first candidate parking space is taken to the SD module and the above calculation process is repeated.
According to the embodiment of the invention, the automatic parking path is calculated only for the target parking space in a single preset calculation period, and the automatic parking path of the identified first candidate parking space is circularly calculated in a plurality of preset calculation periods.
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. 2, a block diagram of a data processing apparatus according to an embodiment of the present invention is shown, and is applied to a vehicle-mounted terminal, where the vehicle-mounted terminal has a preset calculation cycle, and the apparatus may specifically include the following modules:
the obtaining module 201 is configured to obtain at least one first candidate parking space when a vehicle enters an automatic parking state;
the screening module 202 is configured to determine a target parking space from the first candidate parking spaces;
the calculation module 203 is configured to calculate an automatic parking path of the target parking space in the preset calculation period;
and the output module 204 is used for outputting the automatic parking path.
Optionally, the apparatus further comprises:
and the identification module is used for adding identifications to the first candidate parking spaces corresponding to the automatic parking path to generate identification parking spaces.
Optionally, the screening module 202 includes:
a removing submodule, configured to remove the identified parking space from the first candidate parking space to obtain a second candidate parking space;
and the selection submodule is used for determining a target parking position from the second candidate parking positions.
Optionally, the apparatus further comprises:
and the updating module is used for updating the first candidate parking space when the second candidate parking space is empty.
Optionally, the calculation module 203 comprises:
the acquisition submodule is used for acquiring the current pose of the vehicle and the position of a target parking space in the preset calculation period;
the judging submodule is used for judging whether a path intermediate point exists between the current pose and the position;
the first calculation result module is used for taking a route with parking assistance as an automatic parking route when the route middle point exists, and the route with parking assistance is generated by taking the route middle point as a target point;
and the second calculation result module is used for taking the non-solved parking path as the automatic parking path when the path middle point does not exist.
Optionally, the output module 204 includes:
the first output sub-module is used for outputting path data corresponding to the automatic parking path when the automatic parking path is a parking-off path;
and the second output sub-module is used for outputting that the automatic parking path is empty when the automatic parking path is a non-parking path.
Optionally, the vehicle-mounted terminal includes a vehicle-mounted display, and the apparatus further includes:
the display module is used for displaying a first candidate parking place corresponding to the automatic parking path on the vehicle-mounted display when the automatic parking path is a parking-releasing path;
the receiving module is used for receiving a selection instruction of a user on the vehicle-mounted display aiming at the first candidate parking space;
and the response module is used for responding to the selection instruction and adopting the path data corresponding to the first candidate parking space to control the vehicle to automatically park.
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.
An embodiment of the present invention further provides a vehicle, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described above.
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 data processing method and the data processing apparatus provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in the present document by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (12)
1. A data processing method is applied to a vehicle-mounted terminal, wherein the vehicle-mounted terminal has a preset calculation period, and the method comprises the following steps:
when a vehicle enters an automatic parking state, acquiring at least one first candidate parking space;
determining a target parking space from the first candidate parking spaces;
calculating an automatic parking path of the target parking space in the preset calculation period;
and outputting the automatic parking path.
2. The method of claim 1, wherein after the step of calculating the automatic parking path of the target parking space within the preset calculation period, the method further comprises:
and adding an identifier to the first candidate parking space corresponding to the automatic parking path to generate an identified parking space.
3. The method of claim 2, wherein the step of determining a target parking space from the first candidate parking spaces comprises:
removing the marked parking space from the first candidate parking space to obtain a second candidate parking space;
and determining a target parking space from the second candidate parking spaces.
4. The method of claim 3, further comprising:
and when the second candidate parking space is empty, updating the first candidate parking space.
5. The method of claim 1, wherein the step of calculating the automatic parking path of the target parking space within the preset calculation period comprises:
in the preset calculation period, acquiring the current pose of the vehicle and the position of a target parking space;
judging whether a path intermediate point exists between the current pose and the position;
when the path intermediate point exists, taking an unpausing path as an automatic parking path, and generating the unpausing path intermediate point as a target point;
and when the path intermediate point does not exist, taking the undissolved parking path as the automatic parking path.
6. The method of claim 5, wherein the outputting the automated parking path comprises:
when the automatic parking path is a parking-unlocking path, outputting path data corresponding to the automatic parking path;
and when the automatic parking path is the non-solved parking path, outputting that the automatic parking path is empty.
7. The method of claim 6, wherein the vehicle mounted terminal comprises a vehicle mounted display, the method further comprising:
when the automatic parking path is a parking releasing path, displaying a first candidate parking space corresponding to the automatic parking path on the vehicle-mounted display;
receiving a selection instruction of a user on the vehicle-mounted display aiming at the first candidate parking position;
and responding to the selection instruction, and controlling the vehicle to automatically park by adopting the path data corresponding to the first candidate parking space.
8. A data processing apparatus, applied to a vehicle-mounted terminal having a preset calculation cycle, the apparatus comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring at least one first candidate parking space when a vehicle enters an automatic parking state;
the screening module is used for determining a target parking position from the first candidate parking positions;
the calculation module is used for calculating an automatic parking path of the target parking space in the preset calculation period;
and the output module is used for outputting the automatic parking path.
9. The method of claim 8, wherein the apparatus further comprises:
and the identification module is used for adding identifications to the first candidate parking spaces corresponding to the automatic parking path to generate identification parking spaces.
10. The method of claim 9, wherein the screening module comprises:
a removing submodule, configured to remove the identified parking space from the first candidate parking space to obtain a second candidate parking space;
and the selection submodule is used for determining a target parking position from the second candidate parking positions.
11. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of one or more of claims 1-7.
12. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of one or more of claims 1-7.
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| CN202110005033.5A CN112660115A (en) | 2021-01-04 | 2021-01-04 | Data processing method and device |
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| CN202110005033.5A CN112660115A (en) | 2021-01-04 | 2021-01-04 | Data processing method and device |
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| CN111891119A (en) * | 2020-06-28 | 2020-11-06 | 东风汽车集团有限公司 | Automatic parking control method and system |
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| KR100716324B1 (en) * | 2005-12-15 | 2007-05-11 | 현대자동차주식회사 | Method for parking set in auto parking system |
| WO2012062517A1 (en) * | 2010-11-11 | 2012-05-18 | Robert Bosch Gmbh | Method for selecting a parking space from a plurality of parking spaces which are suitable for parking |
| KR20170058722A (en) * | 2015-11-19 | 2017-05-29 | 주식회사 만도 | Parking point controlling method and system in vehicle |
| DE102017216442A1 (en) * | 2017-09-15 | 2019-03-21 | Panasonic Automotive & Industrial Systems Europe GmbH | Automatic parking system |
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