CN113129640A

CN113129640A - Automatic parking method and equipment

Info

Publication number: CN113129640A
Application number: CN201911420459.6A
Authority: CN
Inventors: 马周; 张毅; 雷大力; 俞鸿魁
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-16

Abstract

The invention provides an automatic parking method and equipment, wherein the method comprises the following steps: when a parking instruction is received, controlling a first vehicle to travel to an entrance underground passage; when the first vehicle is detected to enter the entrance underground passage, loading an entrance passage map corresponding to the entrance underground passage, and controlling the first vehicle to travel to a parking area according to the entrance passage map; when the first vehicle is detected to enter a parking area, loading a garage map corresponding to the parking area, acquiring environment data of the parking area, and determining pose information of the first vehicle according to the environment data of the parking area and the garage map; according to the position and pose information and the garage map, the first vehicle is controlled to park in the target parking space, when the vehicle is positioned, special communication equipment such as a UWB (ultra wideband) base station and the like does not need to be installed in a parking area, so that the vehicle can have positioning capacity, the complexity of positioning steps is reduced, and the cost of installation equipment required by positioning is reduced.

Description

Automatic parking method and equipment

Technical Field

The embodiment of the invention relates to the technical field of vehicle control, in particular to an automatic parking method and equipment.

Background

With the development of the automatic driving technology, the AVP (Automated Valet Parking) technology has also been rapidly developed, and after receiving a Parking instruction, a vehicle-mounted terminal on a vehicle can control the vehicle to automatically drive to a specified Parking space of a Parking lot. However, since many parking lots are underground, and the Positioning capability of a GPS (Global Positioning System) Positioning module on a vehicle in the underground is poor, accurate Positioning may not be performed, so that when the vehicle-mounted terminal is underground, the vehicle cannot be accurately controlled to automatically travel to a designated parking space according to the Positioning information.

In the prior art, in order to improve the positioning capability of a vehicle underground so that when a vehicle-mounted terminal is underground, the vehicle can still be accurately controlled to automatically travel to a specified parking space according to positioning information, sufficient special communication equipment is generally deployed in an underground parking lot for positioning, for example, an Ultra Wide Band (UWB) base station is deployed in the underground parking lot, and a corresponding signal transmitting tag is mounted on the vehicle so that the centimeter-level positioning capability can be obtained.

However, the inventors found that at least the following problems exist in the prior art: when the special communication equipment is deployed in the underground parking lot, the deployment position of the special communication equipment needs to be determined manually according to the actual condition of the underground parking lot, then the special communication equipment is deployed at the corresponding deployment position, and a signal transmitting tag on a vehicle needs to be communicated with the special communication equipment, so that the vehicle can obtain certain positioning capacity underground, and the steps are complex and the positioning cost is high.

Disclosure of Invention

The embodiment of the invention provides an automatic parking method and equipment, and aims to solve the problems that in the prior art, due to the fact that a sufficient number of special communication equipment need to be deployed in an underground parking lot for positioning, the steps are complex and the positioning cost is high.

In a first aspect, an embodiment of the present invention provides a vehicle running control method, applied to a first vehicle, the method including:

when a parking instruction is received, controlling the first vehicle to travel to an entrance underground passage;

when the first vehicle is detected to enter the entrance underground passage, loading an entrance passage map corresponding to the entrance underground passage, and controlling the first vehicle to travel to a parking area according to the entrance passage map;

when the first vehicle is detected to enter a parking area, loading a garage map corresponding to the parking area, acquiring environment data of the parking area, and determining pose information of the first vehicle according to the environment data of the parking area and the garage map;

and controlling the first vehicle to stop in a target parking space according to the pose information and the garage map.

In one possible design, after the controlling the first vehicle to travel to an entryway, further comprising:

judging whether the first vehicle is in a preset entrance ground passage exchange area or not;

if the first vehicle is in the preset entrance ground channel exchange area, determining that the first vehicle enters the entrance underground channel;

and if the first vehicle is not in the preset entrance ground passage exchange area, determining that the first vehicle does not enter the entrance underground passage.

In one possible design, the determining whether the first vehicle is within a preset ingress ground lane interchange area includes:

when the first vehicle is detected to run to a preset entrance passage position, acquiring entrance ground passage environment data;

judging whether entrance channel characteristic information exists in the entrance ground channel environment data or not;

and if the entrance passage characteristic information exists, determining that the first vehicle is in the preset entrance ground passage exchange area.

In one possible design, after the controlling the first vehicle to travel to a parking area according to the entryway map, the method further includes:

judging whether the first vehicle is in a parking exchange area of a preset entrance passage or not;

if the first vehicle is in the parking exchange area of the preset entrance passage, determining that the first vehicle enters the parking area;

and if the first vehicle is not in the parking exchange area of the preset entrance passage, determining that the first vehicle does not enter the parking area.

In one possible design, the determining whether the first vehicle is in a preset entryway parking interchange area includes:

acquiring the driving mileage of the first vehicle, wherein the driving mileage is the driving mileage of the first vehicle from the entrance of the entrance underground passage to the current moment;

if the driving mileage is within a preset distance range, acquiring entrance passage garage environment data;

judging whether entrance garage characteristic information exists in the entrance ground channel environment data or not;

and if the entrance garage characteristic information exists, determining that the first vehicle is in a preset entrance passage parking exchange area.

In one possible design, the determining pose information of the first vehicle from the parking area environment data and the garage map includes:

carrying out feature extraction on the environmental data of the parking area to obtain garage feature information;

and matching the garage characteristic information with the garage map to obtain the pose information of the first vehicle.

In one possible design, after the controlling the first vehicle to park in the target parking space according to the pose information and the garage map, the method further includes:

when a vehicle using instruction is received, controlling the first vehicle to drive to an exit underground passage from the target parking space;

when the first vehicle is detected to enter the exit underground passage, loading an exit passage map corresponding to the exit underground passage, and controlling the first vehicle to travel to the ground according to the exit passage map;

and when the first vehicle is detected to enter the ground, controlling the first vehicle to travel to a target vehicle using position according to a navigation map.

In a second aspect, an embodiment of the present invention provides an automatic parking apparatus for a first vehicle, the apparatus including:

the command receiving module is used for controlling the first vehicle to travel to the entrance underground passage when a parking command is received;

the passage map loading module is used for loading an entrance passage map corresponding to the entrance underground passage when the first vehicle is detected to enter the entrance underground passage, and controlling the first vehicle to drive to a parking area according to the entrance passage map;

the system comprises a pose acquisition module, a parking area detection module and a pose detection module, wherein the pose acquisition module is used for loading a garage map corresponding to a parking area when detecting that a first vehicle enters the parking area, acquiring environment data of the parking area and determining pose information of the first vehicle according to the environment data of the parking area and the garage map;

and the parking control module is used for controlling the first vehicle to park in the target parking space according to the pose information and the garage map.

In one possible design, the instruction receiving module is further configured to determine whether the first vehicle is within a preset entrance ground access interchange area after the controlling the first vehicle to travel to the entrance underground access;

In one possible design, the instruction receiving module is specifically configured to:

In one possible design, the lane map loading module is further configured to determine whether the first vehicle is in a preset entryway parking interchange area after the first vehicle is controlled to travel to the parking area according to the entryway map;

In one possible design, the channel map loading module is specifically configured to:

In one possible design, the pose acquisition module is specifically configured to:

In one possible design, the apparatus further includes a vehicle utilization control module;

the vehicle using control module is further used for controlling the first vehicle to run to an exit underground passage from the target parking space when a vehicle using instruction is received after the first vehicle is controlled to stop in the target parking space according to the pose information and the garage map;

In a third aspect, an embodiment of the present invention provides an automatic parking apparatus, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the automated parking method of any of the first aspects.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the method for automatically parking a vehicle is implemented as described in the first aspect and various possible designs of the first aspect.

The method controls the first vehicle to face the entrance underground passage from the ground when receiving the parking instruction, switches the map used for controlling the vehicle to run into the entrance passage map corresponding to the entrance underground passage when determining that the first vehicle performs the entrance underground passage, can well control the first vehicle to run into the parking area, namely the garage according to the entrance passage map because the information in the entrance passage map is more detailed and the precision is higher, indicates that the first vehicle needs to have certain positioning capability when determining that the first vehicle enters the parking area, switches the map used for controlling the vehicle to run into the garage map corresponding to the parking area and obtains the parking area environment data of the current environment of the first vehicle, then determines the pose information of the first vehicle according to the parking area environment data and the garage map, the first vehicle is controlled to automatically park in the target parking space according to the pose information and the garage map, when the positioning of the vehicle is realized, special communication equipment such as a UWB (ultra wide band) base station and the like do not need to be installed in a parking area, the vehicle can have the positioning capacity, the positioning can be carried out only according to environment data of the parking area and the garage map, the complexity of positioning steps is reduced, and the cost of installation equipment required by positioning is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic diagram of an automatic parking scene according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an automatic parking process provided by an embodiment of the present invention;

fig. 3 is a first schematic flow chart of an automatic parking method according to an embodiment of the present invention;

fig. 4 is a second schematic flowchart of an automatic parking method according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a switching area provided by an embodiment of the present invention;

fig. 6 is a third schematic flowchart of an automatic parking method according to an embodiment of the present invention;

fig. 7 is a fourth schematic flowchart of an automatic parking method according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an automatic pick-up process provided by an embodiment of the present invention;

fig. 9 is a schematic structural view of an automatic parking apparatus according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a hardware structure of an automatic parking apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic diagram of an automatic parking scene according to an embodiment of the present invention, as shown in fig. 1, when a first vehicle 101 travels on the ground, if a user wants to make the first vehicle automatically park in an underground parking lot, that is, the first vehicle is automatically parked in a target parking space in the underground parking area, a parking instruction may be sent to the first vehicle 101 through a control terminal 102 such as a mobile terminal, and after receiving the parking instruction sent by the control terminal, a vehicle-mounted terminal on the first vehicle 101 controls the first vehicle to travel from a current location to the target parking space in the underground parking area.

As shown in fig. 2, when the first vehicle travels from the current location to the target parking space in the underground parking area, the first vehicle generally needs to go through three stages, namely, the first vehicle travels from the ground to the entrance underground tunnel, then travels from the entrance underground tunnel to the parking area, and when the first vehicle enters the parking area, the first vehicle starts to find the target parking space. The first vehicle is required to have certain positioning capability when driving in the parking area to find the target parking space, but when the vehicle enters the ground, due to multipath effect or satellite unlocking, the positioning capability of a GPS positioning module on the vehicle in the ground is poor, and accurate positioning may not be carried out, so that when the vehicle-mounted terminal is in the ground, the vehicle cannot be accurately controlled to automatically drive to the target parking space according to positioning information.

In the prior art, in order to improve the positioning capability of a vehicle underground so that when a vehicle-mounted terminal is underground, the vehicle can still be accurately controlled to automatically drive to a specified parking space according to positioning information, sufficient special communication equipment is generally deployed in an underground parking lot for positioning, for example, a UWB base station is deployed in the underground parking lot, and a corresponding signal transmitting tag is mounted on the vehicle so that the positioning capability of a centimeter level can be obtained. However, when the special communication device is deployed in the underground parking lot, the deployment position of the special communication device needs to be determined manually according to the actual situation of the underground parking lot, then the special communication device is deployed at the corresponding deployment position, and the corresponding signal transmitting tag needs to be installed on the vehicle, the signal transmitting tag on the vehicle is communicated with the special communication device, so that the vehicle can obtain a certain positioning capability underground, the steps are complex, and the positioning cost is high.

Aiming at the problems in the prior art, the application provides an automatic parking method and equipment, the method controls a first vehicle to face an entrance underground passage from the ground when receiving a parking instruction, switches a map used for controlling the vehicle to run into an entrance passage map corresponding to the entrance underground passage when determining that the first vehicle runs into the entrance underground passage, can well control the first vehicle to run to a parking area, namely a garage according to the entrance passage map because the information in the entrance passage map is more detailed and has higher precision, indicates that the first vehicle needs to have certain positioning capacity when determining that the first vehicle enters the parking area, switches the map used for controlling the vehicle to run into the garage map corresponding to the parking area, acquires parking area environment data of the current environment of the first vehicle, and then determines the pose information of the first vehicle according to the parking area environment data and the garage map, the first vehicle is controlled to automatically park in the target parking space according to the pose information and the garage map, when the positioning of the vehicle is realized, special communication equipment such as a UWB (ultra wide band) base station and the like do not need to be installed in a parking area, the vehicle can have the positioning capacity, the positioning can be carried out only according to environment data of the parking area and the garage map, the complexity of positioning steps is reduced, and the cost of installation equipment required by positioning is reduced.

The underground parking lot is a parking lot including a single entrance and a single exit, or a parking lot including a single access opening, which is both an entrance and an exit.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Fig. 3 is a first flowchart of an automatic parking method according to an embodiment of the present invention, where an execution subject in the embodiment may be a vehicle-mounted terminal on a vehicle, as shown in fig. 3, the method includes:

s301, when a parking instruction is received, controlling a first vehicle to travel to an entrance underground passage.

In the embodiment, when the first vehicle runs on the ground, the vehicle-mounted terminal on the first vehicle can perform positioning navigation according to the navigation map and the related navigation device (for example, an inertial navigation device) on the first vehicle. When the vehicle-mounted terminal receives a parking instruction, the first vehicle needs to be controlled to park in a target parking space in the underground garage. When a first vehicle is parked in a parking space, the first vehicle needs to enter the entrance underpass from the ground, then enter the parking area through the entrance underpass, and finally park in a target parking space in the parking area.

When the first vehicle runs on the ground, if the vehicle-mounted terminal receives a parking instruction, the vehicle-mounted terminal controls the first vehicle to run from the ground to the underground passage according to a navigation map, namely the map on the ground.

S302, when the first vehicle is detected to enter the entrance underground passage, loading an entrance passage map corresponding to the entrance underground passage, and controlling the first vehicle to run to a parking area according to the entrance passage map.

In this embodiment, it is detected in real time or at intervals during the first vehicle traveling from the ground toward the entryway whether the first vehicle has entered the entryway. When the first vehicle is detected to enter the entrance underground passage, at the moment, the related navigation device on the first vehicle fails, the positioning cannot be continued, the vehicle-mounted terminal loads the entrance passage map corresponding to the entrance underground passage, namely the navigation map is switched to the entrance passage map, and the vehicle-mounted terminal controls the first vehicle to run in the entrance underground passage according to the entrance passage map.

When the first vehicle runs in the entrance underground passage, the vehicle-mounted terminal controls the first vehicle to run along the side, for example, the vehicle runs along the right side of the entrance underground passage.

The entrance passageway map comprises the road width of the entrance underground passageway, the number of lane lines and the like.

In this embodiment, when it is determined that the first vehicle enters the entryway underground passage, the entryway map is loaded, and then the first vehicle is controlled to travel from the entryway underground passage to the parking area according to the entryway map.

Optionally, when it is determined that the first vehicle enters the entryway underground passage, the positioning state can be switched to the non-positioning state. When the first vehicle is in the non-positioning state, the first vehicle cannot be positioned to acquire the position of the first vehicle.

S303, when the first vehicle is detected to enter the parking area, loading a garage map corresponding to the parking area, acquiring environment data of the parking area, and determining pose information of the first vehicle according to the environment data of the parking area and the garage map.

In this embodiment, the in-vehicle terminal detects whether the first vehicle has entered the parking area in real time or at regular intervals while the first vehicle travels from the entryway to the parking area. When detecting that the first vehicle enters the parking area, the vehicle-mounted terminal loads a garage map corresponding to the parking area, namely, the garage map is switched from the entrance channel map to the garage map, and as the first vehicle is required to park in a target parking space in the parking area, the position of the first vehicle needs to be located to obtain the position of the first vehicle, so that the first vehicle is controlled to park in the target parking space according to the position of the first vehicle.

In the process that a first vehicle runs in a parking area, an environment acquisition device on the first vehicle needs to be controlled to acquire environment data of the environment where the first vehicle is located, so that the environment data of the parking area is obtained, and then the pose information of the first vehicle is determined according to the environment data of the parking area, so that the first vehicle is parked in a target parking space according to the pose information of the first vehicle. The specific process of determining the pose information of the first vehicle according to the parking area environment data comprises the following steps: and (4) carrying out feature extraction on the environmental data of the parking area to obtain garage feature information. And matching the garage characteristic information with a garage map to obtain the pose information of the first vehicle.

The environment acquisition device comprises an image acquisition device and/or a laser radar, the image acquisition device can be a camera, a camera and other devices capable of acquiring images, and correspondingly, the parking area environment data acquired by the environment acquisition device comprises an environment image acquired by the image acquisition device and/or point cloud data acquired by the laser radar.

The garage map is a local high-precision map comprising characteristic information such as parking spaces, parking space lines, speed bumps, steering signs and stand columns, and compared with a navigation map, the garage map describes parking areas in more detail.

In this embodiment, after it is determined that the first vehicle enters the parking area, the environment acquisition device is controlled to start acquiring the environment data of the environment in the parking area where the vehicle is currently located, so as to obtain the corresponding parking area environment data. And performing feature extraction on the environmental data of the parking area to obtain corresponding garage feature information, matching the garage feature information with a garage map, and determining the pose information of the first vehicle, namely performing visual relocation. For example, the parking area environment data includes an acquired environment image, the environment image is subjected to feature extraction, corresponding garage feature information is obtained, for example, the garage feature information includes deceleration strip information and steering sign information, the deceleration strip information and the steering sign information are matched with a garage map, an acquisition position and an acquisition posture can be found, and when the first vehicle performs image acquisition on the acquisition position, the environment image can be obtained.

In this embodiment, when it is determined that the first vehicle enters the parking area but does not park in the target parking space, the first vehicle needs to be controlled to acquire environmental data at a certain interval (for example, 1 second) or in real time to obtain corresponding environmental data of the parking area, and then pose information of the first vehicle is determined according to the environmental data of the parking area to realize visual positioning, so that the first vehicle has a certain positioning capability.

Optionally, when the pose information of the first vehicle is determined according to the parking area environment data, the relative pose transformation may be obtained by matching the latest acquired parking area environment data with the parking area environment data acquired at the previous time, and the pose information corresponding to the latest acquired parking area environment data may be determined according to the position information corresponding to the parking area environment data acquired at the previous time and the relative pose transformation.

The last moment is the moment when the latest pose information is obtained.

In the embodiment, the positioning is performed according to the collected parking area environment data and the pre-established garage map to obtain corresponding pose information, or new pose information is obtained by determining relative pose transformation on the basis of obtaining the pose information, namely, the accurate pose information is determined through visual positioning to ensure the positioning accuracy.

Optionally, in the process that the first vehicle travels in the underground passage and the parking area, information of an Inertial Measurement Unit (IMU) may be used to provide a certain auxiliary positioning capability, improve the reliability of detection in the switching area, and enhance robustness.

Optionally, when positioning is performed, the vehicle-mounted terminal may further acquire pose information of the vehicle by using other positioning manners, and here, the pose information is not limited.

And S304, controlling the first vehicle to stop in the target parking space according to the pose information and the garage map.

In the embodiment, the vehicle-mounted terminal controls the first vehicle to run in the parking area according to the garage map and the pose information of the first vehicle, and when the first vehicle is determined to reach the target parking space according to the pose information of the first vehicle, the first vehicle is controlled to park in the target parking space.

The process that the vehicle-mounted terminal controls the first vehicle to run in the parking area according to the garage map and the pose information of the first vehicle so that the first vehicle can park in the target parking space is the process that the vehicle is controlled to run by the existing vehicle-mounted terminal according to the pose information of the vehicle and the map, and is not repeated here.

Wherein, target parking stall can be idle parking stall, also can be for appointing the parking stall, for example, the user can use parking stall A, then regard this parking stall A as appointed parking stall.

When it is emphasized that the navigation map is a map used by the vehicle to run on the ground, the entrance passageway map is a map used by the vehicle to run in the entrance underground passage, and the garage map is a map used by the vehicle to run in the parking area, and the navigation map, the entrance passageway map and the garage map are all maps built according to collected map semantic elements (for example, a lane line, a vehicle position line, a steering mark, a deceleration strip, a parking space, a column, a wall surface and the like of the parking lot).

In this embodiment, the process of driving the vehicle from the ground to the target parking position in the parking area is split to obtain different driving processes, the corresponding map is loaded by determining the driving process in which the vehicle is located, for example, when the vehicle is determined to be located in the entryway, the corresponding entryway map is loaded, the vehicle is controlled to drive according to the loaded map, and when the vehicle needs to be positioned to obtain the positioning information of the vehicle, the accurate positioning information is obtained by performing visual positioning, so that the vehicle can smoothly drive to the target parking space.

It can be known from the above description that when a parking instruction is received, the first vehicle is controlled to face the entrance underground passage from the ground, when the first vehicle is determined to perform the entrance underground passage, the map used for controlling the vehicle to run is switched to the entrance passage map corresponding to the entrance underground passage, because the information in the entrance passage map is more detailed and the accuracy is higher, the first vehicle can be well controlled to run to the parking area, namely, the garage according to the entrance passage map, when the first vehicle is determined to enter the parking area, it indicates that the first vehicle needs to have certain positioning capability, the map used for controlling the vehicle to run is switched to the garage map corresponding to the parking area, the parking area environment data of the current environment of the first vehicle is obtained, and then the pose information of the first vehicle is determined according to the parking area environment data and the garage map, the first vehicle is controlled to automatically park in the target parking space according to the pose information and the garage map, when the positioning of the vehicle is realized, special communication equipment such as a UWB (ultra wide band) base station and the like do not need to be installed in a parking area, the vehicle can have the positioning capacity, the positioning can be carried out only according to environment data of the parking area and the garage map, the complexity of positioning steps is reduced, and the cost of installation equipment required by positioning is reduced.

In determining whether the first vehicle enters the entryway from the ground, it is actually determined whether the first vehicle enters the set exchange area between the ground and the entryway, that is, the preset entryway exchange area, and a specific process of determining whether the first vehicle enters the entryway from the ground will be described in detail below using a detailed embodiment.

Fig. 4 is a second flowchart of a vehicle driving control method according to an embodiment of the present invention, and this embodiment describes in detail a specific implementation process of determining whether a first vehicle enters an entrance underground tunnel from the ground based on the embodiment of fig. 3, as shown in fig. 4, the method includes:

s401, when a parking instruction is received, controlling a first vehicle to travel to an entrance underground passage.

The implementation process of S401 is similar to the implementation process of S301 in the embodiment of fig. 3, and is not described again here.

S402, judging whether the first vehicle is in the preset entrance ground passage exchange area.

In the present embodiment, in the process of controlling the first vehicle to travel from the ground to the entryway, whether the first vehicle travels to the entryway is detected in real time or at regular intervals. In detecting whether the first vehicle travels to the entryway underground passage, it may be determined whether the first vehicle is within a preset entryway ground passage exchange area, which is an area between an exit of the ground and an entrance of the entryway underground passage, for example, an exchange area T1 in fig. 5. When the first vehicle is determined to be in the preset entrance ground passageway exchange area, the first vehicle is indicated to be in the preset entrance ground passageway exchange area, namely the first vehicle enters the entrance underground passageway, and when the first vehicle is determined not to be in the preset entrance ground passageway exchange area, the first vehicle still runs on the ground and does not enter the entrance underground passageway.

The preset entrance ground channel exchange area is marked in a navigation map in advance, and the navigation map is a ground map used for navigation and positioning of the first vehicle on the ground.

In determining whether the first vehicle is in the preset entrance ground lane exchange area, whether the first vehicle is in the preset entrance ground lane exchange area may be determined by the position of the first vehicle and environmental data collected by the first vehicle, and the specific process includes: and when the first vehicle is detected to run to the preset entrance passage position, acquiring entrance ground passage environment data. And judging whether the entrance ground passage environmental data has entrance passage characteristic information or not. And if the entrance passage characteristic information exists, determining that the first vehicle is in the preset entrance ground passage exchange area.

In this embodiment, the preset entrance lane position is located near the preset entrance ground lane exchange area, and when it is detected that the first vehicle has traveled to the preset entrance lane position, it indicates that the first vehicle is already near the preset entrance ground lane exchange area, and a further determination may be made, that is, an environment acquisition device on the first vehicle starts to be controlled to acquire environment data of an environment where the first vehicle is currently located, so as to obtain entrance ground lane environment data, and determine whether entrance lane characteristic information exists in the entrance ground lane environment data. When it is determined that the entryway characteristic information exists in the entryway environment data, it indicates that the entry characteristic of the entryway has been successfully detected, and the first vehicle has entered the entryway. And if the situation that the entrance ground passage characteristic information does not exist in the entrance ground passage environment data is determined, determining that the first vehicle is not in the preset entrance ground passage exchange area.

The entrance passage characteristic information is physical information existing at the entrance of the entrance underground passage, for example, a wall surface, and when the entrance passage characteristic information is determined to exist in the entrance ground passage environment data, it can be determined that the first vehicle has entered the entrance underground passage.

When judging whether the entrance ground passage environment data has the entrance passage characteristic information, actually detecting whether the entrance passage characteristic information exists in the environment image and/or the point cloud data, for example, the entrance ground passage environment data includes the environment image, the entrance passage characteristic information is a wall surface, and when the environment image is determined to include the wall surface, the entrance ground passage environment data can be determined to have the entrance passage characteristic information.

When detecting whether the first vehicle travels to the preset entryway position, the determination may be made according to the position of the first vehicle. The vehicle-mounted terminal can acquire the position of the first vehicle through the navigation device when the first vehicle runs on the ground, and when the position is determined to be the preset entrance passage position, the first vehicle can be determined to run to the preset entrance passage position, otherwise, the position of the first vehicle is continuously acquired through the navigation device, so that whether the first vehicle runs to the preset entrance passage position is determined according to the newly acquired position.

S403, if the first vehicle is in the preset entrance ground channel exchange area, determining that the first vehicle enters the entrance underground channel.

In this embodiment, when it is determined that the first vehicle is already within the preset entryway ground-aisle interchange area, it may be determined that the first vehicle has entered the underground passageway.

S404, when the first vehicle is detected to enter the entrance underground passage, loading an entrance passage map corresponding to the entrance underground passage, and controlling the first vehicle to travel to a parking area according to the entrance passage map.

S405, when the first vehicle is detected to enter the parking area, loading a garage map corresponding to the parking area, acquiring environment data of the parking area, and determining pose information of the first vehicle according to the environment data of the parking area and the garage map.

And S406, controlling the first vehicle to stop in the target parking space according to the pose information and the garage map.

The implementation processes of S404 to S406 are similar to the implementation processes of S302 to S304 in the embodiment of fig. 3, and are not described herein again.

S407, if the first vehicle is not in the preset entrance ground channel exchange area, determining that the first vehicle does not enter the entrance underground channel.

In the present embodiment, when it is determined that the first vehicle is not within the preset entryway interchange area, it indicates that the first vehicle has not entered the entryway underground.

In this embodiment, in the process that a first vehicle travels from the ground to an underground entrance, it needs to determine whether the first vehicle has entered the underground entrance in real time or at a certain time interval, that is, whether the first vehicle is already in a preset underground entrance exchange area, when determining whether the first vehicle is in the preset underground entrance exchange area, it is determined whether the first vehicle is in the vicinity of the exchange area according to the position of the first vehicle, and if the first vehicle is already in the vicinity of the exchange area, it is further determined whether entrance characteristic information exists in the environment data of the entrance passage collected by the first vehicle, that is, it is determined whether the entrance characteristic is detected, and when it is determined that the entrance characteristic is detected, it may be determined that the first vehicle has entered the underground entrance, so as to implement accurate and automatic detection whether the first vehicle enters the underground entrance.

In determining whether the first vehicle passes through the entrance underground into the parking area, it is actually determined whether the first vehicle enters the interchange area set between the entrance underground tunnel and the parking area, i.e., the entrance tunnel parking interchange area, and a specific process of determining whether the first vehicle passes through the entrance underground into the parking area will be described in detail below using a detailed embodiment.

Fig. 6 is a third schematic flowchart of an automatic parking method according to an embodiment of the present invention, and this embodiment describes in detail a specific implementation process of determining whether a first vehicle enters a parking area from below the entrance based on the embodiment of fig. 3, as shown in fig. 6, the method includes:

s601, when a parking instruction is received, controlling a first vehicle to travel to an entrance underground passage.

S602, when detecting that the first vehicle enters the entrance underground passage, loading an entrance passage map corresponding to the entrance underground passage, and controlling the first vehicle to travel to a parking area according to the entrance passage map.

The implementation processes of S601 to S602 are similar to the implementation processes of S301 to S302 in the embodiment of fig. 3, and are not described herein again.

S603, judging whether the first vehicle is in the parking exchange area of the preset entrance passage.

In the present embodiment, in the process of controlling the first vehicle to travel from the entrance underpass to the parking area, i.e., the garage, whether the first vehicle travels to the parking area is detected in real time or at certain intervals. In detecting whether the first vehicle travels to the parking area, it may be determined whether the first vehicle is within a preset entryway parking interchange area, which is an area between an exit of the entryway underground and an entrance of the parking area, such as an interchange area T2 shown in fig. 5. When the first vehicle is determined to be in the preset entryway parking interchange area, the first vehicle is indicated to be in the preset entryway parking interchange area, namely the first vehicle enters the parking area, and when the first vehicle is determined not to be in the preset entryway parking interchange area, the first vehicle is indicated to still run in the entryway and does not enter the parking area.

When judging whether the first vehicle is in the preset entryway parking exchange area, because the first vehicle cannot be positioned in the entryway underground passage, the first vehicle cannot be determined whether to be in the preset entryway parking exchange area according to the position of the first vehicle, and whether to be in the preset entryway parking exchange area can be determined according to the driving mileage of the first vehicle and the entryway ground passage environment data acquired by the first vehicle, and the specific process comprises the following steps: and acquiring the driving mileage of the first vehicle, wherein the driving mileage is the mileage of the first vehicle from the entrance underground passage to the current moment. And if the driving mileage is within the preset distance range, acquiring the environmental data of the entrance passage garage. And judging whether the entrance ground passage environmental data has entrance garage characteristic information or not. And if the entrance garage characteristic information exists, determining that the first vehicle is in the parking exchange area of the preset entrance passage.

In this embodiment, when it is determined that the first vehicle enters the entryway, recording of the mileage of the first vehicle is started, that is, the mileage represents the mileage traveled by the first vehicle from the time of entering the entryway to the present time. When the driving process is within the preset distance range, the first vehicle is indicated to have driven to the vicinity of the parking area, further judgment can be performed, that is, an environment acquisition device on the first vehicle is started to be controlled to acquire environment data in front of the first vehicle, entrance passage garage environment data is obtained, and whether entrance garage characteristic information exists in the entrance passage garage environment data is judged. When it is determined that the ingress garage characteristic information is present in the ingress gateway garage environment data, indicating that the ingress characteristic of the garage has been successfully detected, the first vehicle has entered the parking area, i.e., the garage. And if the situation that the entrance garage characteristic information does not exist in the entrance garage environment data is determined, determining that the first vehicle is not in the preset entrance garage parking exchange area.

The entrance garage characteristic information is physical information existing at an entrance of the parking area, such as a wall surface, an upright post and a ground marking, and when the entrance garage characteristic information exists in the entrance channel garage environment data, it can be determined that the first vehicle enters the parking area.

When the driving range of the first vehicle is obtained, the driving range of the first vehicle in the period from the moment when the first vehicle is determined to enter the underground entrance passage to the current moment can be determined through a dead reckoning algorithm, namely the driving range of the first vehicle from the moment when the first vehicle enters the underground entrance passage to the current moment.

When judging whether the entrance channel garage environment data has the entrance garage feature information, actually detecting whether the entrance garage feature information exists in the environment image and/or the point cloud data included in the garage environment data, for example, the entrance channel garage environment data includes the environment image, the entrance garage feature information is a ground marking, and when the environment image includes the ground marking, the entrance channel garage environment data can be determined to have the entrance garage feature information.

S604, if the first vehicle is in the parking exchange area of the preset entrance channel, determining that the first vehicle enters the parking area.

In this embodiment, when it is determined that the first vehicle is already within the preset entryway parking interchange area, it may be determined that the first vehicle has entered the parking area, i.e., has entered the underground garage, and at this time, it is determined that the first vehicle also has the visual positioning capability.

S605, when the first vehicle is detected to enter the parking area, loading a garage map corresponding to the parking area, acquiring environment data of the parking area, and determining pose information of the first vehicle according to the environment data of the parking area and the garage map.

And S606, controlling the first vehicle to stop in the target parking space according to the pose information and the garage map.

The implementation processes of S605 to S606 are similar to the implementation processes of S303 to S304 in the embodiment of fig. 3, and are not described herein again.

S607, if the first vehicle is not in the parking exchange area of the preset entrance passage, determining that the first vehicle does not enter the parking area.

In the present embodiment, when it is determined that the first vehicle is not within the preset entryway parking interchange area, it indicates that the first vehicle has not entered the parking area, that is, has not entered the garage.

In this embodiment, in the process that the first vehicle travels from the entrance underground tunnel to the parking area, it needs to determine whether the first vehicle has entered the parking area in real time or at certain time intervals, that is, whether the first vehicle has been in the preset tunnel garage exchange area, when it is determined that the first vehicle is in the preset tunnel garage exchange area, it is determined whether the first vehicle is in the preset tunnel parking exchange area through the travel distance of the first vehicle and the collected entrance tunnel garage environment data, and when it is determined that the first vehicle is in the preset tunnel parking exchange area, it may be determined that the first vehicle has entered the parking area, so as to implement accurate and automatic detection whether the first vehicle has entered the parking area.

After parking the first vehicle in the parking space of the parking area, when the user wants the first vehicle to travel from the parking area to the target vehicle-using position, the vehicle-using command may be sent to the first vehicle, so that the first vehicle automatically travels to the target vehicle-using position.

Fig. 7 is a fourth flowchart illustrating an automatic parking method according to an embodiment of the present invention, in this embodiment, based on the embodiment in fig. 3, a detailed implementation process of driving a first vehicle from a parking space to a target vehicle position according to a vehicle using command is described in detail, and as shown in fig. 7, the method includes:

and S701, controlling the first vehicle to travel to the entrance underground passage when the parking instruction is received.

S702, when the first vehicle is detected to enter the entrance underground passage, loading an entrance passage map corresponding to the entrance underground passage, and controlling the first vehicle to travel to a parking area according to the entrance passage map.

S703, when the first vehicle is detected to enter the parking area, loading a garage map corresponding to the parking area, acquiring environment data of the parking area, and determining pose information of the first vehicle according to the environment data of the parking area and the garage map.

And S704, controlling the first vehicle to stop in the target parking space according to the pose information and the garage map.

The implementation processes of S701 to S704 are similar to the implementation processes of S301 to S304 in the embodiment of fig. 3, and are not described herein again.

S705, when the vehicle using instruction is received, controlling the first vehicle to drive to the exit underground passage from the target parking space.

In this embodiment, when needing to get the car and use the car, the user alright in order to send corresponding car instruction to the vehicle-mounted terminal on the first vehicle through control terminal, this vehicle-mounted terminal is when receiving the car instruction that relevant terminal or equipment sent, just needs control first vehicle to travel to the assigned position by the target parking stall in the underground garage. As shown in fig. 8, when the first vehicle travels to the designated position, it needs to travel from the target parking space in the parking area to the exit underpass, then travel from the exit underpass to the ground, and finally stop at the designated position on the ground.

S706, when the first vehicle is detected to enter the exit underground passage, the exit passage map corresponding to the exit underground passage is loaded, and the first vehicle is controlled to travel to the ground according to the exit passage map.

In this embodiment, it is detected in real time or at intervals during the travel of the first vehicle from the parking area to the exit underpass whether the first vehicle has entered the exit underpass. When detecting that the first vehicle enters the underground exit passage, the vehicle-mounted terminal loads an exit passage map corresponding to the underground exit passage, namely the garage map is switched to the exit passage map, and the vehicle-mounted terminal controls the first vehicle to run in the underground exit passage according to the exit passage map.

When the vehicle-mounted terminal controls the first vehicle to run in the exit underground passage, the vehicle-mounted terminal controls the first vehicle to run along the side, for example, the left side of the entrance underground passage.

The exit passage map includes the road width of the exit underground passage, the number of lane lines, and the like.

In the embodiment, when the first vehicle enters the exit underground passage, the exit passage map is loaded, and then the first vehicle is controlled to travel from the exit underground passage to the ground according to the exit passage map.

Optionally, when it is determined that the first vehicle enters the exit underpass, the positioning state may be switched to the non-positioning state. When the first vehicle is in the non-positioning state, the first vehicle cannot be positioned to acquire the position of the first vehicle.

When detecting whether the first vehicle enters the exit underground passage from the parking area, the method can determine whether the first vehicle is in a preset exit passage parking exchange area, wherein the preset exit passage parking exchange area is an area between an exit of the parking area and an entrance of the exit underground passage.

The process of determining whether the first vehicle is in the preset exit passage parking exchange area is similar to the process of determining whether the first vehicle is in the preset entrance passage parking exchange area, and is not described herein again.

And S707, when the first vehicle is detected to enter the ground, controlling the first vehicle to travel to the target vehicle using position according to the navigation map.

In this embodiment, during the first vehicle traveling from the exit underpass to the ground, it is detected in real time or at intervals whether the first vehicle has entered the ground. When the first vehicle is detected to enter the ground, the vehicle-mounted terminal loads a ground map corresponding to the ground, namely the exit channel map is switched to the navigation map, and the vehicle-mounted terminal controls the first vehicle to run on the ground according to the navigation map.

Optionally, when it is determined that the first vehicle enters the ground, the non-positioning state may be switched to the positioning state. The first vehicle may continue to be located using the navigation device on the vehicle.

When detecting whether the first vehicle enters the ground through the underground exit passage, the method can determine whether the first vehicle is in a preset exit ground passage exchange area, wherein the preset exit ground passage exchange area is an area between an exit of the underground exit passage and an entrance of the ground.

The process of determining whether the first vehicle is in the preset exit ground lane exchange area is similar to the process of determining whether the first vehicle is in the preset entrance ground lane exchange area, and is not described herein again.

In this embodiment, when it is detected that the first vehicle enters the ground, the navigation map is loaded, and at this time, the relevant navigation device on the first vehicle is valid, and positioning navigation can be continued, so that the vehicle-mounted terminal can continue to use the navigation map and the navigation device to control the first vehicle to travel to a target vehicle position, that is, a designated position, and automatic vehicle taking is achieved.

It can be understood that, when the entrance and the exit are the same through port, the entrance underground passage is the exit underground passage, and correspondingly, the exit passage map is the entrance underground map.

Fig. 9 is a schematic structural diagram of an automatic parking apparatus according to an embodiment of the present invention. As shown in fig. 9, the automatic parking apparatus 900 includes: an instruction receiving module 901, a channel map loading module 902, a pose acquisition module 903 and a parking control module 904.

The instruction receiving module 901 is configured to control the first vehicle to travel to the entrance underground passage when receiving the parking instruction.

The tunnel map loading module 902 is configured to, when it is detected that the first vehicle enters the entrance underpass, load an entrance tunnel map corresponding to the entrance underpass, and control the first vehicle to travel to the parking area according to the entrance tunnel map.

The pose acquisition module 903 is configured to, when it is detected that the first vehicle enters the parking area, load a garage map corresponding to the parking area, acquire environment data of the parking area, and determine pose information of the first vehicle according to the environment data of the parking area and the garage map.

And the parking control module 904 is used for controlling the first vehicle to park in the target parking space according to the pose information and the garage map.

In one possible design, the instruction receiving module 901 is further configured to determine whether the first vehicle is in the preset entrance ground lane exchange area after controlling the first vehicle to travel to the entrance underground lane.

And if the first vehicle is in the preset entrance ground channel exchange area, determining that the first vehicle enters the entrance underground channel.

And if the first vehicle is not in the preset entrance ground channel exchange area, determining that the first vehicle does not enter the entrance underground channel.

In one possible design, the instruction receiving module 901 is specifically configured to:

and when the first vehicle is detected to run to the preset entrance passage position, acquiring entrance ground passage environment data.

And judging whether the entrance ground passage environmental data has entrance passage characteristic information or not.

In one possible design, the aisle map loading module 902 is further configured to determine whether the first vehicle is in a preset entryway parking interchange area after controlling the first vehicle to travel to the parking area according to the entryway map.

And if the first vehicle is in the preset entrance passage parking exchange area, determining that the first vehicle enters the parking area.

In one possible design, the channel map loading module 902 is specifically configured to:

and acquiring the driving mileage of the first vehicle, wherein the driving mileage is the mileage of the first vehicle from the entrance underground passage to the current moment.

And if the driving mileage is within the preset distance range, acquiring the environmental data of the entrance passage garage.

And judging whether the entrance ground passage environmental data has entrance garage characteristic information or not.

And if the entrance garage characteristic information exists, determining that the first vehicle is in the parking exchange area of the preset entrance passage.

In one possible design, the pose acquisition module 903 is specifically configured to:

and (4) carrying out feature extraction on the environmental data of the parking area to obtain garage feature information.

And matching the garage characteristic information with a garage map to obtain the pose information of the first vehicle.

In one possible design, the device further includes a user control module.

And the vehicle using control module is also used for controlling the first vehicle to run to the underground exit channel from the target parking space when receiving a vehicle using instruction after controlling the first vehicle to stop in the target parking space according to the pose information and the garage map.

And when detecting that the first vehicle enters the outlet underground passage, loading an outlet passage map corresponding to the outlet underground passage, and controlling the first vehicle to travel to the ground according to the outlet passage map.

And when the first vehicle is detected to enter the ground, controlling the first vehicle to travel to the target vehicle using position according to the navigation map.

The automatic parking equipment provided by this embodiment can be used for executing the technical scheme of the above method embodiment, the implementation principle and technical effect are similar, and this embodiment is not described herein again.

Fig. 10 is a schematic diagram of a hardware structure of an automatic parking apparatus according to an embodiment of the present invention. As shown in fig. 10, the automatic parking apparatus 1000 of the present embodiment includes: the present embodiment provides an automatic parking apparatus 1000 including: at least one processor 1001 and memory 1002. The processor 1001 and the memory 1002 are connected to each other via a bus 1003.

In a specific implementation process, the at least one processor 1001 executes computer-executable instructions stored in the memory 1002, so that the at least one processor 1001 executes the automatic parking method in the above method embodiment.

For a specific implementation process of the processor 1001, reference may be made to the above method embodiments, which have similar implementation principles and technical effects, and details of this embodiment are not described herein again.

In the embodiment shown in fig. 10, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The embodiment of the invention also provides a computer-readable storage medium, wherein a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the automatic parking method is realized.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic parking method, applied to a first vehicle, comprising:

2. The method of claim 1, further comprising, after said controlling the first vehicle to travel to an entryway subterranean passageway:

3. The method of claim 2, wherein the determining whether the first vehicle is within a preset ingress ground lane interchange area comprises:

4. The method of claim 1, further comprising, after the controlling the first vehicle to travel to a parking area according to the entryway map:

5. The method of claim 4, wherein the determining whether the first vehicle is within a preset entryway parking interchange area comprises:

6. The method of claim 1, wherein the determining pose information for the first vehicle from the parking area environment data and the garage map comprises:

7. The method of claim 1, further comprising, after said controlling the first vehicle to park in a target parking space based on the pose information and the garage map:

8. An automatic parking apparatus, applied to a first vehicle, the apparatus comprising:

9. An automatic parking apparatus, characterized by comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the automated parking method of any of claims 1 to 7.

10. A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement the automated parking method of any one of claims 1 to 7.