CN113071476A - Autonomous parking method, device and equipment and automatic driving vehicle - Google Patents
Autonomous parking method, device and equipment and automatic driving vehicle Download PDFInfo
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- CN113071476A CN113071476A CN202110432560.4A CN202110432560A CN113071476A CN 113071476 A CN113071476 A CN 113071476A CN 202110432560 A CN202110432560 A CN 202110432560A CN 113071476 A CN113071476 A CN 113071476A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The application discloses an autonomous parking method, an autonomous parking device, autonomous parking equipment and an autonomous vehicle, and relates to unmanned driving and vehicle-road cooperation in artificial intelligence. The specific implementation scheme is as follows: determining current position information corresponding to a target vehicle in response to an autonomous parking instruction triggered by a user; determining target road side equipment corresponding to the current position information according to the current position information; sending an autonomous parking request to the target roadside device, wherein the autonomous parking request comprises vehicle data for path planning; and receiving an initial parking route planned for the target vehicle by the target road side equipment based on the vehicle data, and controlling the target vehicle to run according to the initial parking route. The target road-side equipment is determined according to the position of the target vehicle, so that the time delay of the target vehicle and the target road-side equipment during communication is extremely small, and real-time autonomous parking can be realized.
Description
Technical Field
The application relates to unmanned driving and vehicle-road cooperation in artificial intelligence, in particular to an autonomous parking method, device and equipment and an automatic driving vehicle.
Background
Since it is difficult to drive an automobile into a narrow space, autonomous Parking (Valet Parking) gradually enters the life of a user. The automatic parking means that the automobile is automatically parked in the place without manual control.
In order to enable any vehicle to achieve the autonomous parking function, in the prior art, the vehicle is generally in communication connection with a cloud server, and information of the vehicle is sent to the cloud server, so that the cloud server can perform path planning according to the information of the vehicle, and the vehicle can perform autonomous parking operation according to a path planned by the cloud server.
However, when the method is used for planning the route of autonomous parking, because the cloud server receives the information of the vehicle and processes the data to feed back the route to the vehicle, a certain time delay often exists, the route of autonomous parking cannot be planned for the vehicle in real time, and then the autonomous parking cannot be performed in real time, and the requirement of the user for autonomous parking cannot be met.
Disclosure of Invention
The application provides an autonomous parking method, an autonomous parking device, an autonomous parking equipment and an automatic driving vehicle.
According to a first aspect of the present application, there is provided a method of autonomous parking, comprising:
determining current position information corresponding to a target vehicle in response to an autonomous parking instruction triggered by a user;
determining target road side equipment corresponding to the current position information according to the current position information;
sending an autonomous parking request to the target roadside device, wherein the autonomous parking request comprises vehicle data for path planning;
and receiving an initial parking route planned for the target vehicle by the target road side equipment based on the vehicle data, and controlling the target vehicle to run according to the initial parking route.
According to a second aspect of the present application, there is provided an apparatus for autonomous parking, comprising:
the determining module is used for responding to an autonomous parking instruction triggered by a user and determining current position information corresponding to a target vehicle;
the road side equipment determining module is used for determining target road side equipment corresponding to the current position information according to the current position information;
the system comprises a sending module, a receiving module and a processing module, wherein the sending module is used for sending an autonomous parking request to the target road side equipment, and the autonomous parking request comprises vehicle data used for path planning;
and the receiving module is used for receiving an initial parking route planned for the target vehicle by the target road side equipment based on the vehicle data and controlling the target vehicle to run according to the initial parking route.
According to a third aspect of the present application, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to a fourth aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.
According to a fifth aspect of the present application, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.
According to a sixth aspect of the present application, there is provided an autonomous vehicle comprising the electronic device according to the third aspect.
According to the technology of the application, the technical problem that the existing method for performing autonomous parking planning through a cloud server is low in instantaneity is solved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic diagram of a network architecture on which the present application is based;
fig. 2 is a schematic flowchart of a method for autonomous parking according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a target roadside device provided in an embodiment of the present application;
fig. 4 is an updated schematic diagram of a target roadside device provided in an embodiment of the present application;
fig. 5 is a flowchart illustrating a method for autonomous parking according to a second embodiment of the present application;
fig. 6 is a schematic flowchart of a method for autonomous parking according to a third embodiment of the present application;
fig. 7 is a schematic structural diagram of an apparatus for autonomous parking according to a fourth embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In view of the above-mentioned technical problems that path planning by a server has a time delay and autonomous parking cannot be performed in real time in the existing autonomous parking method, the present application provides an autonomous parking method, an apparatus, a device and an autonomous driving vehicle.
It should be noted that the method, the device, the apparatus for autonomous parking, and the autonomous vehicle provided by the present application may be applied to any scenario in which a vehicle performs autonomous parking.
In order to be applicable to all configured vehicle types, a server generally performs path planning, and sends a planned path of autonomous parking to a vehicle, so that the vehicle performs an autonomous parking operation according to the path of autonomous parking. However, because information interaction and data calculation between the cloud server and the vehicle often have a certain time delay, the autonomous parking path planning performed by using the method often does not have real-time performance, and thus the vehicle cannot perform autonomous parking operation accurately in real time.
In order to implement a real-time autonomous parking operation for a vehicle having an arbitrary configuration, the inventors have found through research that a target roadside device, which performs route planning for autonomous parking, may be determined based on location information of the target vehicle. The target road-side equipment is determined according to the position of the target vehicle, so that the time delay of the target vehicle and the target road-side equipment during communication is extremely small, and real-time autonomous parking can be realized.
The application provides an autonomous parking method, an autonomous parking device, an autonomous parking equipment and an automatic driving vehicle, which are applied to unmanned driving and vehicle road cooperation in artificial intelligence so as to plan an autonomous parking route for a target vehicle in real time.
Fig. 1 is a schematic diagram of a network architecture based on the present application, as shown in fig. 1, the network architecture based on the present application at least includes: the road condition planning system comprises a target vehicle 11 and a target road side device 12, wherein a data acquisition module, a calculation module and a communication module are integrated in the target road side device 12, the data acquisition module comprises various sensors and image acquisition devices and is used for acquiring road condition information, the communication module is used for acquiring vehicle data sent by the target vehicle 11, and the calculation module is used for planning a path according to the road condition information and the vehicle data. The target vehicle 11 may then be a vehicle of any configuration.
The target vehicle 11 is connected to the target roadside apparatus 12 in a communication manner, so that a parking path planned by the target roadside apparatus 12 according to the road condition information and the vehicle data can be acquired.
Fig. 2 is a schematic flowchart of a method for autonomous parking according to an embodiment of the present application, and as shown in fig. 2, the method includes:
The execution subject of the present embodiment is an autonomous parking device that can be coupled to a target vehicle. The target vehicle can establish communication connection with the target road side device, so that information interaction can be carried out between the target vehicle and the target road side device.
In this embodiment, when the user needs to perform autonomous parking, the user may send an autonomous parking instruction through application software communicatively connected to the target vehicle or a display interface provided on the target vehicle. Accordingly, the apparatus for autonomous parking may acquire an autonomous parking instruction triggered by the user. In order to enable autonomous parking in real time, it is first necessary to determine information on the current location of the target vehicle.
In the present embodiment, after the current position information of the target vehicle is determined, the target roadside device for autonomous parking may be determined based on the position information.
Specifically, since different vehicles have different configurations, and the sensors and calculation modules required for autonomous parking have high requirements for the vehicle configurations, not all vehicles can implement the autonomous parking function. In order to enable any vehicle to realize the autonomous parking function, the target road side device can be selected to plan the autonomous parking path.
Fig. 3 is a schematic structural diagram of a target roadside device provided in an embodiment of the present application, and as shown in fig. 3, the target roadside device 31 specifically includes a computation control facility 32, a roadside communication facility 33, a signal lamp variable identifier 34, a sensing positioning setting 35, and a near field payment 36. The calculation control facility 32 is respectively in communication connection with the roadside communication facility 33, the signal lamp variable identifier 34, the perception positioning device 35 and the near field payment 36, and the perception positioning device 35 comprises a camera 351, a millimeter wave radar 352 and a laser radar 353.
Based on the structure, the target road side equipment can also be used for parking payment operation. Specifically, the calculation control facility 32 may determine the time when the target vehicle completes the autonomous parking and the time when the target vehicle leaves the parking area, and calculate the parking fee required to be paid by the current parking operation according to the two times. Payment of the parking fee is accomplished by near field payment 36.
In this embodiment, after determining the target roadside device, a communication connection may be established with the target roadside device and an autonomous parking request may be sent to the target roadside device. In order to enable the target roadside apparatus to accurately plan the autonomous parking path, the autonomous parking request further includes vehicle data for path planning.
And 204, receiving an initial parking route planned for the target vehicle by the target road side device based on the vehicle data, and controlling the target vehicle to run according to the initial parking route.
In this embodiment, after acquiring the autonomous parking request, the target roadside device may perform a path planning operation for the target vehicle according to vehicle data carried in the autonomous parking request and the acquired road data, acquire an initial parking route, and send the initial parking route to the target vehicle.
Accordingly, the target vehicle may acquire the initial parking route and travel according to the initial parking route.
As a practical example, the initial parking route has a low accuracy, and accordingly, the real-time requirement for route planning is relatively low. Therefore, the target vehicle can establish communication connection with the cloud server and send the autonomous parking request to the cloud server, so that the cloud server plans the initial parking route according to the autonomous parking request. The target vehicle can obtain the initial parking route sent by the cloud server and drive according to the initial parking route.
According to the method for autonomous parking, the target road-side device is determined according to the current position information of the target vehicle, the autonomous parking request carrying the vehicle information is sent to the target road-side device, the initial parking route sent by the target road-side device is obtained, and the target road-side device runs according to the initial parking route. In addition, the data acquisition and the path planning are realized by the target road side equipment, and the target vehicle does not need to be configured highly, so that the target vehicle with any configuration can realize the autonomous parking function.
Further, on the basis of the first embodiment, the step 202 specifically includes:
and determining the distance between each road side device and the target vehicle within a preset range according to the current position information.
And determining the road side device with the minimum distance to the target vehicle as the target road side device.
In this embodiment, in order to reduce the time delay caused by data transmission and improve the real-time performance of autonomous parking path planning, a roadside device closest to the target vehicle may be selected as the target roadside device. Specifically, the distance between the target vehicle and each roadside device within the preset range may be determined according to the current position information of the target vehicle. And determining the road side device with the minimum distance to the target vehicle as the target road side device.
According to the method for autonomous parking, the roadside device closest to the target vehicle is selected as the target roadside device, so that time delay caused by data transmission can be effectively reduced, and the real-time performance of autonomous parking path planning is improved.
Further, on the basis of the first embodiment, after receiving the initial parking route planned by the target roadside device for the target vehicle based on the vehicle data in step 204, the method further includes:
controlling a display interface corresponding to the target vehicle to display the initial parking route;
in step 204, controlling the target vehicle to travel according to the initial parking route specifically includes:
and controlling the target vehicle to run according to the initial parking route in response to a confirmation instruction for triggering the initial parking route.
In this embodiment, after the initial parking route sent by the target roadside device is obtained, the initial parking route may be sent to a user for auditing, and whether to drive according to the initial parking route is determined according to an auditing result of the user.
Specifically, a display interface preset on the target vehicle may be controlled to display the initial parking route. Or the initial parking route may be transmitted to a terminal device of the user for display. And when a confirmation instruction of the initial parking route triggered by the user is detected, the vehicle runs according to the initial parking route at the control target.
Optionally, after the user sees the initial parking route on the display interface, the initial parking route may be manually adjusted according to actual requirements, which is not limited in the present application.
According to the method for autonomous parking, the confirmation instruction of the user is obtained before the autonomous parking operation is performed according to the initial parking route, so that the autonomous parking operation can be more suitable for the requirements of the user, and the user experience is improved.
Further, on the basis of the first embodiment, the vehicle data specifically includes an identifier of a target vehicle, and the receiving, by the target roadside device, an initial parking route planned for the target vehicle based on the vehicle data in step 204 includes:
obtaining parking area information sent by the target road side equipment and an initial parking route running to the parking area, wherein the parking area information is determined by the target road side equipment according to the vehicle size corresponding to the identification of the target vehicle;
after controlling the target vehicle to travel according to the initial parking route in step 204, the method further includes:
and when the target vehicle is detected to run to the parking area, obtaining a running path planned by the target road side equipment, and finishing the autonomous parking operation according to the running path.
In this embodiment, after acquiring the autonomous parking request, the target roadside device may determine parking area information according to a vehicle size corresponding to a vehicle identifier in the autonomous parking request, and plan an initial parking route from a current position to the parking area according to the parking area information and current position information of the target vehicle. Further, after it is detected that the target vehicle travels to the parking area, a travel path may be further planned for the target vehicle, so that the target vehicle completes the autonomous parking operation according to the further planned travel path.
According to the method for autonomous parking, the parking area information and the initial parking route sent by the target roadside device are obtained, so that the autonomous parking operation can be realized in real time, and any vehicle with any configuration can realize the autonomous parking function.
Further, on the basis of the first embodiment, after the step 204, the method further includes:
when the target vehicle is detected to travel to the parking area, determining whether a distance between any road side device and the current position information of the target vehicle exists in a preset area around the target vehicle is smaller than a distance between the current position information of the target vehicle and the road side device of the target vehicle.
And if so, replacing the target road side equipment with any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target road side equipment to form the updated target road side equipment.
And if not, not updating the target road side equipment.
In this embodiment, the position of the target vehicle changes in real time during the course of traveling along the initial parking route, and therefore, in order to ensure real-time performance of autonomous parking, an update operation may be performed on the current target roadside device.
Specifically, when it is detected that the target vehicle travels to the parking area, it may be determined whether a distance between any one of the roadside devices and the current position information of the target vehicle is smaller than a distance between the current position information of the target vehicle and the target roadside device within a preset area around the target vehicle. If so, any road side device with the distance to the current position information of the target vehicle smaller than the distance between the current position information of the target vehicle and the target road side device can be substituted for the target road side device to form the updated target road side device. Otherwise, if the route does not exist, the current target road-side equipment can still be used for carrying out the route planning operation, and the target road-side equipment is not updated.
Fig. 4 is a schematic diagram of an updated target road-side device provided in the embodiment of the present application, and as shown in fig. 4, the target vehicle 41 may travel according to a first travel path sent by the target road-side device 42, where the first travel path is used to guide the target vehicle 42 to travel from the parking area 44 to the parking space 45. The distance 46 between the target vehicle 41 and the current target roadside apparatus 42 gradually increases, and at this time, the distance 47 between the target vehicle 41 and the roadside apparatus 43 is smaller than the distance 46 between the target roadside apparatus 42, so that the roadside apparatus 43 can be used to replace the current target roadside apparatus 42 to form an updated target roadside apparatus. The updated target roadside apparatus 43 may transmit a second travel path to the target vehicle 41, the second travel path being used to guide the target vehicle 41 to park in the parking space 45.
According to the method for autonomous parking, the target roadside device is updated, so that the time delay of data transmission can be effectively reduced, and the real-time performance of autonomous parking is guaranteed.
Fig. 5 is a flowchart illustrating a method for autonomous parking according to a second embodiment of the present application, where on the basis of the first embodiment, as shown in fig. 5, after determining, as the target roadside device, any roadside device whose distance from the current location information of the target vehicle is smaller than the distance between the current location information of the target vehicle and the target roadside device, the method further includes:
And step 503, controlling the target vehicle to run according to the first running path.
In this embodiment, after the target road-side device is updated, an autonomous parking request may be sent to the updated target road-side device, so that the updated target road-side device plans a further first driving path for the target vehicle, where the first driving path is specifically used for controlling the target vehicle to drive from the parking area to the parking space. Since the path is relatively narrow in the process of driving the target vehicle from the parking area to the parking space, the requirement on the precision is higher, and the vehicle data required by the corresponding path planning is more. Specifically, the autonomous parking request includes characteristic information of the target vehicle, wherein the characteristic information includes an identification of the target vehicle, a vehicle type, and a vehicle size.
After the target roadside device obtains the autonomous parking request, the target roadside device may determine a specific parking space according to the characteristic information of the target vehicle, and send a first driving path, which is planned according to the characteristic information and runs from the parking area to the parking space, to the target vehicle.
Accordingly, the target vehicle may acquire the parking space information and the first driving path transmitted by the target roadside device, and drive from the parking area to the specific parking space according to the first driving path.
According to the method for autonomous parking, after the target vehicle travels to the parking area, the first traveling path with higher precision is planned for the target vehicle, so that the safety of autonomous parking can be guaranteed on the basis of realizing real-time autonomous parking.
Further, on the basis of any of the above embodiments, after the step 503, the method further includes:
if the situation that the target vehicle runs to the parking space is monitored, whether the distance between any road side device and the current position information of the target vehicle in the parking area is smaller than the distance between the current position information of the target vehicle and the updated target road side device is determined.
And if so, replacing the updated target road side equipment by any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target road side equipment to form the re-updated target road side equipment.
And if not, not updating the target road side equipment.
In this embodiment, the position of the target vehicle changes in real time while the target vehicle travels along the first travel path, and therefore, in order to ensure real-time performance of autonomous parking, a re-update operation may be performed on the updated target road-side device.
Specifically, it may be determined whether a distance between any roadside device and the current position information of the target vehicle exists within the parking area that is smaller than a distance between the current position information of the target vehicle and the updated target roadside device. And if so, replacing the updated target road side equipment by any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is less than the distance between the current position information of the target vehicle and the target road side equipment to form the re-updated target road side equipment. If not, the updated target road side equipment can still be used for performing the path planning operation, and the target road side equipment is not updated again.
According to the method for autonomous parking, the updated target roadside device is updated again, so that the time delay of data transmission can be effectively reduced, and the real-time performance of autonomous parking is guaranteed.
Fig. 6 is a flowchart of an autonomous parking method according to a third embodiment of the present application, where on the basis of any of the embodiments, as shown in fig. 6, after replacing the updated target roadside device with any roadside device whose distance from the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target roadside device to form a re-updated target roadside device, the method further includes:
And step 602, obtaining the re-updated target road side equipment and planning a second driving path for the target vehicle according to the driving data.
In this embodiment, after the updated target roadside device is updated again, an autonomous parking request may be sent to the updated target roadside device, so that the updated target roadside device plans a further second driving path for the target vehicle, where the second driving path is specifically used for controlling the target vehicle to park in. In the process of parking the target vehicle into the enclosure, the path is narrower, so that the requirement on the precision is higher, and more vehicle data are needed by corresponding path planning. Specifically, the autonomous parking request includes traveling data of a target vehicle of the target vehicle, wherein the traveling data includes a vehicle position, a speed, four-axis acceleration, and a steering wheel angle.
After the updated target road side device obtains the autonomous parking request, a second driving path can be planned for the target vehicle according to the driving data of the target vehicle, and the second driving path is sent to the target vehicle.
Accordingly, the target vehicle may obtain the second driving path sent by the target roadside device after being updated again, and park in the parking space according to the second driving path.
According to the method for autonomous parking, after the target vehicle travels to the parking space, the second travel path with higher precision is planned for the target vehicle, so that the safety of autonomous parking can be guaranteed on the basis of realizing real-time autonomous parking.
Fig. 7 is a schematic structural diagram of an apparatus for autonomous parking according to a fourth embodiment of the present application, and as shown in fig. 7, the apparatus includes: the system comprises a determining module 71, a roadside device determining module 72, a sending module 73 and a receiving module 74, wherein the determining module 71 is configured to determine current location information corresponding to a target vehicle in response to an autonomous parking instruction triggered by a user. And a roadside device determining module 72, configured to determine, according to the current location information, a target roadside device corresponding to the current location information. A sending module 73, configured to send an autonomous parking request to the target roadside device, where the autonomous parking request includes vehicle data for path planning. A receiving module 74, configured to receive an initial parking route planned for the target vehicle by the target roadside device based on the vehicle data, and control the target vehicle to travel according to the initial parking route.
Further, on the basis of the fourth embodiment, the roadside apparatus determination module includes: the distance determining unit is used for determining the distance between each road side device and the target vehicle within a preset range according to the current position information. A determination unit configured to determine a roadside apparatus having a smallest distance to the target vehicle as the target roadside apparatus.
Further, on the basis of the fourth embodiment, the apparatus further includes: and a display module. And the display module is used for controlling a display interface corresponding to the target vehicle to display the initial parking route. The receiving module includes: a response unit. And the response unit is used for responding to a confirmation instruction of the initial parking route for triggering and controlling the target vehicle to run according to the initial parking route.
Further, on the basis of the fourth embodiment, the vehicle data includes an identification of the target vehicle, and the receiving module includes: a response unit. The data acquisition unit is used for acquiring parking area information sent by the target road side equipment and an initial parking route running to the parking area, wherein the parking area information is determined by the target road side equipment according to the vehicle size corresponding to the identification of the target vehicle. The device further comprises: and a driving path obtaining module. And the running path obtaining module is used for obtaining a running path planned by the target road side equipment when the target vehicle is detected to run to the parking area, and finishing the autonomous parking operation according to the running path.
Further, on the basis of the fourth embodiment, the apparatus further includes: the device comprises a first distance determining module and a first processing module. The first distance determination module is used for determining whether a distance between any road side device and the current position information of the target vehicle exists in a preset area around the target vehicle or not when the target vehicle is detected to run to the parking area, wherein the distance is smaller than the distance between the current position information of the target vehicle and the target road side device. The first processing module is used for replacing any road side equipment with the distance between the road side equipment and the current position information of the target vehicle, which is smaller than the distance between the current position information of the target vehicle and the target road side equipment, with the target road side equipment to form updated target road side equipment if the road side equipment exists; and if not, not updating the target road side equipment.
Further, on the basis of the fourth embodiment, the apparatus further includes: the device comprises a first request sending module, a first data acquisition module and a first control module. The first request sending module is configured to send an autonomous parking request to the updated target roadside device, where the autonomous parking request includes feature information of the target vehicle, and the feature information includes an identifier of the target vehicle, a vehicle type, and a vehicle size. The first data acquisition module is used for acquiring a parking space which is sent by the target road side equipment and determined according to the characteristic information of the target vehicle, and a planned first driving path from the parking area to the parking space. And the first control module is used for controlling the target vehicle to run according to the first running path.
Further, on the basis of any one of the above embodiments, the apparatus further includes: a second distance determination module and a second processing module. The second distance determination module is configured to determine whether a distance between any roadside device and the current position information of the target vehicle in the parking area is smaller than a distance between the current position information of the target vehicle and the updated target roadside device if it is monitored that the target vehicle travels to the parking space. The second processing module is used for replacing the updated target road side equipment by any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target road side equipment if the road side equipment exists so as to form the re-updated target road side equipment; and if not, not updating the target road side equipment.
Further, on the basis of any one of the above embodiments, the apparatus further includes: the device comprises a second request sending module, a second data acquisition module and a second control module. The second request sending module is configured to send an autonomous parking request to the target roadside device after being updated, where the autonomous parking request includes driving data of the target vehicle, and the driving data includes a vehicle position, a speed, four-axis acceleration, and a steering wheel angle. And the second data acquisition module is used for acquiring the re-updated target road side equipment and planning a second driving path for the target vehicle according to the driving data. And the second control module is used for controlling the target vehicle to run according to the second running path, wherein the second running path is used for controlling the target vehicle to park in the parking space.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
There is also provided, in accordance with an embodiment of the present application, a computer program product, including: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.
There is also provided, in accordance with an embodiment of the present application, a non-transitory computer-readable storage medium having stored thereon computer instructions for causing the computer to perform the method according to any of the embodiments described above.
According to an embodiment of the present application, there is also provided an autonomous vehicle including the electronic device according to the present embodiment.
Fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 8, the electronic device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (20)
1. A method of autonomous parking, comprising:
determining current position information corresponding to a target vehicle in response to an autonomous parking instruction triggered by a user;
determining target road side equipment corresponding to the current position information according to the current position information;
sending an autonomous parking request to the target roadside device, wherein the autonomous parking request comprises vehicle data for path planning;
and receiving an initial parking route planned for the target vehicle by the target road side equipment based on the vehicle data, and controlling the target vehicle to run according to the initial parking route.
2. The method of claim 1, the determining, from the current location information, a target roadside device corresponding to the current location information, comprising:
determining the distance between each road side device and the target vehicle within a preset range according to the current position information;
and determining the road side device with the minimum distance to the target vehicle as the target road side device.
3. The method of claim 1 or 2, the vehicle data comprising an identification of a target vehicle, the receiving an initial parking route planned by the target roadside device for the target vehicle based on the vehicle data, comprising:
obtaining parking area information sent by the target road side equipment and an initial parking route running to the parking area, wherein the parking area information is determined by the target road side equipment according to the vehicle size corresponding to the identification of the target vehicle;
after the controlling the target vehicle to travel according to the initial parking route, the method further includes:
and when the target vehicle is detected to run to the parking area, obtaining a running path planned by the target road side equipment, and finishing the autonomous parking operation according to the running path.
4. The method of claim 3, after controlling the target vehicle to travel according to the initial parking route, further comprising:
when the target vehicle is detected to run to the parking area, determining whether a distance between any road side device and the current position information of the target vehicle exists in a preset area around the target vehicle is smaller than a distance between the current position information of the target vehicle and the road side device of the target vehicle;
if so, replacing the target road side equipment with any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target road side equipment to form updated target road side equipment;
and if not, not updating the target road side equipment.
5. The method of claim 4, further comprising, after determining any roadside device that is less than the distance between the current location information of the target vehicle and the target roadside device as the target roadside device, after determining:
sending an autonomous parking request to the updated target roadside device, wherein the autonomous parking request comprises characteristic information of the target vehicle, and the characteristic information comprises an identification of the target vehicle, a vehicle type and a vehicle size;
acquiring a parking space which is sent by the target road side equipment and determined according to the characteristic information of the target vehicle, and a planned first driving path from the parking area to the parking space;
and controlling the target vehicle to travel according to the first travel path.
6. The method of claim 5, after controlling the target vehicle to travel according to the first travel path, further comprising:
if the target vehicle is monitored to run to the parking space, determining whether the distance between any road side device and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the updated target road side device exists in the parking area;
if so, replacing the updated target road side equipment by any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target road side equipment to form the re-updated target road side equipment;
and if not, not updating the target road side equipment.
7. The method of claim 6, further comprising, after replacing the updated target roadside device with any roadside device that is less in distance from the current location information of the target vehicle than the distance between the current location information of the target vehicle and the target roadside device to form a re-updated target roadside device:
sending an autonomous parking request to the target roadside device after being updated, wherein the autonomous parking request comprises driving data of the target vehicle, and the driving data comprises vehicle position, speed, four-axis acceleration and steering wheel rotation angle;
obtaining the re-updated target road side equipment and planning a second driving path for the target vehicle according to the driving data;
and controlling the target vehicle to travel according to the second travel path, wherein the second travel path is used for controlling the target vehicle to park in the parking space.
8. The method of claim 1 or 2, the receiving, subsequent to the target roadside device planning an initial parking route for the target vehicle based on the vehicle data, further comprising:
controlling a display interface corresponding to the target vehicle to display the initial parking route;
the controlling the target vehicle to travel according to the initial parking route includes:
and controlling the target vehicle to run according to the initial parking route in response to a confirmation instruction for triggering the initial parking route.
9. An apparatus for autonomous parking, comprising:
the determining module is used for responding to an autonomous parking instruction triggered by a user and determining current position information corresponding to a target vehicle;
the road side equipment determining module is used for determining target road side equipment corresponding to the current position information according to the current position information;
the system comprises a sending module, a receiving module and a processing module, wherein the sending module is used for sending an autonomous parking request to the target road side equipment, and the autonomous parking request comprises vehicle data used for path planning;
and the receiving module is used for receiving an initial parking route planned for the target vehicle by the target road side equipment based on the vehicle data and controlling the target vehicle to run according to the initial parking route.
10. The apparatus of claim 9, the roadside device determination module comprising:
the distance determining unit is used for determining the distance between each road side device and the target vehicle within a preset range according to the current position information;
a determination unit configured to determine a roadside apparatus having a smallest distance to the target vehicle as the target roadside apparatus.
11. The apparatus of claim 9 or 10, the vehicle data comprising an identification of a target vehicle, the receiving module comprising:
the data acquisition unit is used for acquiring parking area information sent by the target road side equipment and an initial parking route running to the parking area, wherein the parking area information is determined by the target road side equipment according to the vehicle size corresponding to the identification of the target vehicle;
the device further comprises:
and the running path obtaining module is used for obtaining a running path planned by the target road side equipment when the target vehicle is detected to run to the parking area, and finishing the autonomous parking operation according to the running path.
12. The apparatus of claim 11, the apparatus further comprising:
the first distance determination module is used for determining whether a distance between any road side device and the current position information of the target vehicle exists in a preset area around the target vehicle or not when the target vehicle is detected to run to the parking area, wherein the distance is smaller than the distance between the current position information of the target vehicle and the target road side device;
the first processing module is used for replacing any road side equipment with the distance between the road side equipment and the current position information of the target vehicle, which is smaller than the distance between the current position information of the target vehicle and the target road side equipment, with the target road side equipment to form updated target road side equipment if the road side equipment exists; and if not, not updating the target road side equipment.
13. The apparatus of claim 12, the apparatus further comprising:
a first request sending module, configured to send an autonomous parking request to the updated target roadside device, where the autonomous parking request includes feature information of the target vehicle, where the feature information includes an identifier of the target vehicle, a vehicle type, and a vehicle size;
the first data acquisition module is used for acquiring a parking space which is sent by the target road side equipment and determined according to the characteristic information of the target vehicle, and a planned first driving path from the parking area to the parking space;
and the first control module is used for controlling the target vehicle to run according to the first running path.
14. The apparatus of claim 13, the apparatus further comprising:
a second distance determination module, configured to determine whether a distance between any roadside device and the current position information of the target vehicle in the parking area is smaller than a distance between the current position information of the target vehicle and the updated target roadside device if it is monitored that the target vehicle travels to the parking space;
the second processing module is used for replacing the updated target road side equipment by any road side equipment of which the distance between the road side equipment and the current position information of the target vehicle is smaller than the distance between the current position information of the target vehicle and the target road side equipment if the road side equipment exists so as to form the re-updated target road side equipment; and if not, not updating the target road side equipment.
15. The apparatus of claim 14, the apparatus further comprising:
a second request sending module, configured to send an autonomous parking request to the target roadside device after being updated, where the autonomous parking request includes driving data of the target vehicle, and the driving data includes a vehicle position, a speed, a four-axis acceleration, and a steering wheel angle;
the second data acquisition module is used for acquiring the re-updated target road side equipment and planning a second driving path for the target vehicle according to the driving data;
and the second control module is used for controlling the target vehicle to run according to the second running path, wherein the second running path is used for controlling the target vehicle to park in the parking space.
16. The apparatus of claim 9 or 10, further comprising:
the display module is used for controlling a display interface corresponding to the target vehicle to display the initial parking route;
the receiving module includes:
and the response unit is used for responding to a confirmation instruction of the initial parking route for triggering and controlling the target vehicle to run according to the initial parking route.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.
20. An autonomous vehicle comprising the electronic device of claim 17.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110432560.4A CN113071476A (en) | 2021-04-21 | 2021-04-21 | Autonomous parking method, device and equipment and automatic driving vehicle |
| PCT/CN2021/126210 WO2022222401A1 (en) | 2021-04-21 | 2021-10-25 | Valet parking method and apparatus, and device and autonomous driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110432560.4A CN113071476A (en) | 2021-04-21 | 2021-04-21 | Autonomous parking method, device and equipment and automatic driving vehicle |
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| CN113071476A true CN113071476A (en) | 2021-07-06 |
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| CN202110432560.4A Pending CN113071476A (en) | 2021-04-21 | 2021-04-21 | Autonomous parking method, device and equipment and automatic driving vehicle |
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| WO (1) | WO2022222401A1 (en) |
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| CN115909794A (en) * | 2023-02-24 | 2023-04-04 | 华砺智行(武汉)科技有限公司 | Intelligent platform vehicle guiding method and device, electronic equipment and storage medium |
| CN116494956A (en) * | 2023-03-21 | 2023-07-28 | 广州汽车集团股份有限公司 | Parking control method and device, vehicle and storage medium |
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