CN113561970A - Method, device, equipment and storage medium for determining initial parking position information - Google Patents
Method, device, equipment and storage medium for determining initial parking position information Download PDFInfo
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Abstract
The application provides a method, a device, equipment and a storage medium for determining initial parking position information. The method comprises the following steps: acquiring data information of a target parking space and data information of obstacles in a preset range of a vehicle through a perception sensor of the vehicle; determining parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle; and determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle. By adopting the technical means, the appropriate initial position can be accurately determined, so that the vehicle can be parked into the target parking space at one time, and the success rate and the accuracy rate of parking can be improved.
Description
Technical Field
The present application relates to vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining initial parking position information.
Background
The auto parking function is one of the functions of auto driving, and is also one of the functions that are realized first among the low-speed-range auto driving functions. The principle of the automatic parking function is mainly that information such as relative distance, speed and angle between a vehicle and the surrounding environment is measured by using a vehicle-mounted sensor and sensors in the surrounding environment, and then a running track is calculated by a calculating unit, so that the steering and acceleration and deceleration of the vehicle are controlled, and the vehicle is automatically parked in a target parking space.
In daily manual parking, when a target parking space is required to be successfully parked, a vehicle is usually moved to a proper initial position and the posture of the vehicle is adjusted, and when the conditions are met, the target parking space can be successfully parked only once.
Therefore, how to accurately determine the appropriate initial position becomes an urgent problem to be solved, and the purpose of improving the success rate and the accuracy rate of parking is achieved.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for determining initial parking position information, which can accurately determine a proper initial position, so that a vehicle can park in a target parking space at one time, and the success rate and the accuracy rate of parking can be improved.
In one aspect, the present application provides a method for determining initial parking position information, including:
acquiring data information of a target parking space and data information of obstacles in a preset range of a vehicle through a perception sensor of the vehicle;
determining parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle;
and determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle.
In another aspect, the present application provides an apparatus for determining initial parking position information, including:
the acquisition module is used for acquiring data information of a target parking space and data information of obstacles in a preset range of the vehicle through a perception sensor of the vehicle;
the parking position information determining module is used for determining the parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle;
and the initial parking position information determining module is used for determining the initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle.
In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method as described in the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method as set forth in the first aspect when executed by a processor.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method as described in the first aspect.
According to the method, the device, the equipment and the storage medium for determining the initial parking position information, data information of a target parking space and data information of obstacles in a preset range of a vehicle are acquired through a perception sensor of the vehicle; determining parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle; and determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle. By adopting the technical means, the appropriate initial position can be accurately determined, so that the vehicle can be parked into the target parking space at one time, and the success rate and the accuracy rate of parking can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart illustrating a method for determining initial parking position information according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of parking position information in a target parking space according to an embodiment of the present application;
fig. 3 is a flowchart illustrating a method for determining initial parking position information according to a second embodiment of the present application;
FIG. 4 is a schematic diagram of a sensor coordinate system being converted to a vehicle coordinate system according to a second embodiment of the present application;
FIG. 5 is a schematic diagram of a vehicle coordinate system converted to a parking coordinate system according to a second embodiment of the present application;
fig. 6 is a schematic diagram of parking position information and initial parking position information in a target parking space according to a second embodiment of the present application;
FIG. 7 is a schematic diagram of data information of a vehicle provided according to a second embodiment of the present application;
fig. 8 is a schematic structural diagram of an apparatus for determining initial parking position information according to a third embodiment of the present application;
fig. 9 is a block diagram illustrating a terminal device according to an example embodiment.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the present application.
The terms referred to in this application are explained first:
the data information of the target parking space refers to relevant data parameters of the target parking space, and may include the length of the target parking space, the safety distance of the vehicle, and the width of the target parking space.
The obstacle data information refers to data information of a non-target parking space, and may include data information of a backing pile, data information of other vehicles, or data information of trees.
The data information of the vehicle itself refers to parameter information of the vehicle, and may include data information of the length of the vehicle, the width of the vehicle, and the distance between the center points of the front and rear axles of the vehicle.
The initial parking position information refers to a position where the vehicle is to be parked, and if the vehicle is located at the position, the vehicle can be driven into the target parking space at one time.
The sensor coordinate system is a coordinate system which takes the installation position of the sensor as an origin, the forward direction of the normal line of the sensor is a y-axis, and the right side of the normal line of the sensor is an x-axis.
The parking coordinate system is a coordinate system which takes a reference point of a parking space in front of the detected parking space as an original point, is parallel to the direction of the parking space as a y axis and is vertical to the direction of the parking space as an x axis.
The vehicle coordinate system is a coordinate system which takes the central point of the rear axle of the vehicle as the origin, the front side of the vehicle is the y-axis, and the right side of the vehicle is the x-axis.
The preset parking path refers to a path for controlling the vehicle to travel to a target parking space, which is calculated by a controller of the vehicle.
The specific application scenario of the parking control method is that the vehicle is controlled to stop in the target parking space in the parking scene, and successful parking is achieved at one time.
The application provides a method for determining initial parking position information, which aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. 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. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a method for determining initial parking position information according to an embodiment of the present application. The method is applied to an automatic driving vehicle, and the first embodiment comprises the following steps:
s101, acquiring data information of a target parking space and data information of obstacles in a preset range of the vehicle through a perception sensor of the vehicle.
In this embodiment, the sensing sensor is used to acquire data information required by the vehicle, wherein the sensing sensor may include:
cameras, laser radars, millimeter wave radars, ultrasonic radars, gyroscopes, and accelerometers. For example, the data information of the target parking space is acquired through a perception sensor of the vehicle, so that the vehicle can analyze the data information of the target parking space, and the vehicle is subjected to path planning according to the obstacle data information within the preset range of the vehicle acquired by the vehicle sensor, so that the vehicle can be determined to avoid the obstacle data information or the target parking space is determined again, and further, the vehicle can be guaranteed to smoothly run to the target parking space before the vehicle does not run.
And S102, determining parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle.
For example, the controller of the vehicle can calculate the parking position information in the target parking space according to a preset algorithm through the data information of the target parking space and the data information of the vehicle itself. In this embodiment, it can be seen from the schematic diagram of the parking position information in the target parking space shown in fig. 2 that the vehicle can acquire the data information of the target parking space in the process of passing through the whole target parking space. For example, in the figure, the vehicle may acquire data information of the target parking space in the process of traveling from point a to point B, and determine parking position information in the target parking space by combining the data information of the vehicle itself.
S103, determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle.
For example, referring to fig. 2, in a case where parking position information within a target parking space is determined and there is no obstacle information within a preset range of the vehicle, initial parking position information of the vehicle may be determined. If the obstacle data information within the preset range is on the preset parking path of the vehicle, the data information of the new target parking space is determined again.
According to the method for determining the initial parking position information, data information of a target parking space and data information of obstacles in a preset range of a vehicle are acquired through a perception sensor of the vehicle; determining parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle; and determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle. By adopting the technical means, the appropriate initial position can be accurately determined, so that the vehicle can be parked into the target parking space at one time, and the aims of improving the success rate and the accuracy rate of parking are fulfilled.
Fig. 3 is a flowchart illustrating a method for determining initial parking position information according to a second embodiment of the present application. The method is applied to an automatic driving vehicle, and the second embodiment comprises the following steps:
s301, acquiring data information of a target parking space and data information of obstacles in a preset range of the vehicle through a perception sensor of the vehicle.
For example, this step may refer to step S101 described above, and is not described again.
And S302, converting the data information of the target parking space from the sensor coordinate system to a parking coordinate system to obtain the data information of the target parking space in the parking coordinate system.
In this embodiment, the data information of the target parking space is obtained by the sensor of the vehicle in the sensor coordinate system, and the final stop position of the target parking space is actually determined in the parking coordinate system of the vehicle, so that the data information of the target parking space currently obtained by the sensor of the vehicle needs to be converted from the sensor coordinate system to the parking coordinate system, and in the actual calculation process, the data information of the target parking space is converted from the sensor coordinate system to the vehicle coordinate system, and then from the vehicle coordinate system to the parking coordinate system. The transformation process between the above three coordinate systems can be seen in a schematic diagram of a sensor coordinate system transformed to a vehicle coordinate system shown in fig. 4 and a schematic diagram of a vehicle coordinate system transformed to a parking coordinate system shown in fig. 5.
The calculation process of converting the points in the sensor coordinate system to the points in the vehicle coordinate system is as follows:
wherein the angle beta is obtained by the angle at which the vehicle's perception sensor is mounted. From FIG. 4, it can be seen that the coordinates of the point A in the sensor coordinate system are
And the coordinates of point A in the vehicle coordinate system are
. The sensor coordinate system is a coordinate system which takes the installation position of the sensor as an origin, the forward direction of the normal line of the sensor is a y axis, and the right side of the normal line of the sensor is an x axis. The vehicle coordinate system is a coordinate system which takes the central point of the rear axle of the vehicle as the origin, the front side of the vehicle is the y-axis, and the right side of the vehicle is the x-axis. TranslationThe quantity is calculated from the distance between the position where the sensor is mounted and the center point of the rear axle of the vehicle.
The parking coordinate system is a coordinate system which takes a reference point of a parking space in front of the detected parking space as an original point, is parallel to the direction of the parking space as a y axis and is vertical to the direction of the parking space as an x axis.
Further, the calculation process for converting the points in the vehicle coordinate system to the points in the parking coordinate system is as follows:
in the above formula, the θ angle is a heading angle at which the vehicle travels.
In this embodiment, it can be seen from fig. 5 that the coordinates of the point B in the vehicle coordinate system are
And the coordinates of the point B in the parking coordinate system are
。
And S303, converting the data information of the vehicle from the vehicle coordinate system to a parking coordinate system to obtain the data information of the vehicle under the parking coordinate system.
In this embodiment, the calculation process of converting the data information of the vehicle itself from the vehicle coordinate system to the parking coordinate system may be referred to the above step S302.
S304, determining parking position information in the target parking space according to the data information of the target parking space in the parking coordinate system and the data information of the vehicle in the parking coordinate system, wherein the parking position information in the target parking space is information in the parking coordinate system.
In this embodiment, after the data information of the target parking space and the data information of the vehicle itself are both converted into the parking coordinate system, the parking position information in the target parking space in the parking coordinate system is determined according to the two data information.
Exemplarily, the data information of the target parking space includes a length of the target parking space, a safety distance of the vehicle, and a width of the target parking space; the data information of the vehicle comprises the length of the vehicle, the width of the vehicle and the distance between the central points of the front axle and the rear axle of the vehicle; determining parking position information in the target parking space according to the data information of the target parking space in the parking coordinate system and the data information of the vehicle in the parking coordinate system, wherein the determining comprises the following steps:
determining the abscissa of the parking position information according to the length of the target parking space, the safety distance of the vehicle, the length of the vehicle and the distance between the central points of the front axle and the rear axle of the vehicle; determining a vertical coordinate of the parking position information according to the width of the target parking space, the safety distance of the vehicle and the width of the vehicle; and the abscissa of the parking position information and the ordinate of the parking position information are used as the parking position information in the target parking space under the parking coordinate system.
In this embodiment, the abscissa of the parking position information may be determined by the following formula:
wherein the content of the first and second substances,
the length of the target parking space is the length of the target parking space,
is a safe distance to the vehicle,
is the length of the vehicle and
is the distance between the center points of the front and rear axles of the vehicle,
is the abscissa of the parking position information. Specifically, a schematic diagram of parking position information and initial parking position information in a target parking space shown in fig. 6 and a schematic diagram of data information of the vehicle itself shown in fig. 7 can be referred to. Therein, it can be seen from FIG. 7
The distance between the center points of the front and rear axles of the vehicle,
Is the length of the vehicle,
Is a safe distance of the vehicle
The width of the vehicle.
For example, the ordinate of the parking position information may be determined by the following formula:
wherein the content of the first and second substances,
is the width of the target parking space,
is a safe distance to the vehicle,
is the width of the vehicle and
is the ordinate of the parking position information.
S305, determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle.
In one example, step S305 includes:
determining a preset parking path of the vehicle according to the parking position information; the parking position information is a starting point of a preset parking path of the vehicle; and if the obstacle data information in the preset range is not on the preset parking path of the vehicle, taking the end point of the preset parking path of the vehicle as the initial parking position information of the vehicle.
Illustratively, determining a preset parking path of the vehicle according to the parking position information includes:
and calculating a preset parking path of the vehicle based on a clothoid algorithm.
In this embodiment, as can be seen from fig. 6, the calculation process based on the clothoid algorithm is as follows: the minimum turning radius of the vehicle is taken as the radius of a circle, the central point of the rear axle of the vehicle is taken as two tangent circles, the circle centers are respectively taken as the circle centers
And
and P is the parking position information in the target parking space. Wherein the minimum turning radius of the vehicle is
The coordinate of point P is
，
The coordinates of the points are
And
the coordinates of the points are
。
In calculating the preset parking path of the vehicle,
the circle is kept unchanged, will
Round slave
Move right below the circle to
When the circle is right to the right, in the moving process,
a circle and
the circles are always kept tangent at
During the circular movement, the central point of the rear axle of the vehicle moves to
The uppermost point in the vertical direction of the circle is the initial parking position information of the vehicle, and the initial parking position information of the vehicle is recorded as A
。
Further, the calculation can be performed by the following formula:
by
Can obtain
；
Further, the air conditioner is provided with a fan,
；
by
Can obtain
；
At the outside of the vehicle
Drawing a circle as the center of the circle, and setting the radius of the circle as
；
Wherein the content of the first and second substances,
；
in-vehicle measuring point
Drawing a circle as the center of the circle, and setting the radius of the circle as
；
Wherein the content of the first and second substances,
；
in order to avoid a collision during parking of the vehicle, the conditions need to be satisfied:
further, the above conditions may be specifically described as:
thereby can obtain
And
the coordinate value of A can be obtained.
Wherein the content of the first and second substances,
the length of the target parking space is the length of the target parking space,
is a safe distance to the vehicle,
is the length of the vehicle and
the distance between the center points of the front axle and the rear axle of the vehicle.
S306, controlling the vehicle to run from the current parking position to the initial parking position of the vehicle according to the initial parking position information of the vehicle.
In this embodiment, after the initial parking position information of the vehicle is determined, the vehicle is controlled to travel from the current parking position to the position, so that the vehicle travels from the initial parking position to the parking position of the target parking space. The path planning algorithm for the vehicle to travel from the current parking position to the initial parking position of the vehicle may adopt a search algorithm, random sampling, curve interpolation and an artificial potential field method.
According to the method for determining the initial parking position information, the parking position information in the target parking space in the parking coordinate system is determined through the data information of the target parking space in the parking coordinate system and the data information of the vehicle in the parking coordinate system, and the vehicle is controlled to run from the current parking position to the initial parking position of the vehicle according to the initial parking position information of the vehicle, so that the vehicle can be accurately stopped at the initial parking position, and further the vehicle can be accurately run to the stopping position in the target parking space.
Fig. 8 is a schematic structural diagram of an apparatus for determining initial parking position information according to a third embodiment of the present application. Specifically, the apparatus 800 of the third embodiment includes:
the acquiring module 801 is configured to acquire data information of a target parking space and data information of an obstacle within a preset range of a vehicle through a sensor of the vehicle.
And a parking position information determining module 802, configured to determine, according to the data information of the target parking space and the data information of the vehicle, parking position information in the target parking space.
The initial parking position information determining module 803 is configured to determine initial parking position information of the vehicle according to the parking position information and the obstacle data information within the preset range of the vehicle.
The parking position information determination module 802 includes:
the coordinate system first converting unit 8021 is configured to convert the data information of the target parking space from the sensor coordinate system to a parking coordinate system, so as to obtain the data information of the target parking space in the parking coordinate system.
The coordinate system second conversion unit 8022 is configured to convert the data information of the vehicle itself from the vehicle coordinate system to the parking coordinate system, so as to obtain the data information of the vehicle itself in the parking coordinate system.
The parking position information determining unit 8023 is configured to determine parking position information in a target parking space according to data information of the target parking space in a parking coordinate system and data information of a vehicle in the parking coordinate system, where the parking position information in the target parking space is information in the parking coordinate system.
Exemplarily, the data information of the target parking space includes a length of the target parking space, a safety distance of the vehicle, and a width of the target parking space; the data information of the vehicle comprises the length of the vehicle, the width of the vehicle and the distance between the central points of the front axle and the rear axle of the vehicle; the parking position information determining unit is used for determining the abscissa of the parking position information according to the length of the target parking space, the safety distance of the vehicle, the length of the vehicle and the distance between the central points of the front axle and the rear axle of the vehicle; determining a vertical coordinate of the parking position information according to the width of the target parking space, the safety distance of the vehicle and the width of the vehicle; and the abscissa of the parking position information and the ordinate of the parking position information are used as the parking position information in the target parking space under the parking coordinate system.
The initial parking position information determination module 803 includes:
a preset parking path determining unit 8031, configured to determine a preset parking path of the vehicle according to the parking position information; the parking position information is a starting point of a preset parking path of the vehicle.
The initial parking position information determining unit 8032 is configured to, if the obstacle data information in the preset range is not on the preset parking path of the vehicle, take an end point of the preset parking path of the vehicle as the initial parking position information of the vehicle.
The device further comprises:
and a re-determining module 804, configured to re-determine data information of a new target parking space if the obstacle data information in the preset range is on a preset parking path of the vehicle.
The preset parking path determining unit 8031 is configured to calculate a preset parking path of the vehicle based on a clothoid algorithm.
The device further comprises:
a driving module 805, configured to control the vehicle to drive from a current parking location to an initial parking location of the vehicle according to the initial parking location information of the vehicle.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Fig. 9 is a block diagram illustrating a terminal device, which may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, etc., according to one exemplary embodiment.
The apparatus 900 may include one or more of the following components: processing component 902, memory 904, power component 906, multimedia component 908, audio component 910, input/output (I/O) interface 912, sensor component 914, and communication component 916.
The processing component 902 generally controls overall operation of the device 900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. Processing component 902 may include one or more processors 920 to execute instructions to perform all or a portion of the steps of the methods described above. Further, processing component 902 can include one or more modules that facilitate interaction between processing component 902 and other components. For example, the processing component 902 can include a multimedia module to facilitate interaction between the multimedia component 908 and the processing component 902.
The memory 904 is configured to store various types of data to support operation at the apparatus 900. Examples of such data include instructions for any application or method operating on device 900, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 904 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.
The power supply component 906 provides power to the various components of the device 900. The power components 906 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 900.
The multimedia component 908 comprises a screen providing an output interface between the device 900 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 908 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 900 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 910 is configured to output and/or input audio signals. For example, audio component 910 includes a Microphone (MIC) configured to receive external audio signals when apparatus 900 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 904 or transmitted via the communication component 916. In some embodiments, audio component 910 also includes a speaker for outputting audio signals.
I/O interface 912 provides an interface between processing component 902 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor component 914 includes one or more sensors for providing status assessment of various aspects of the apparatus 900. For example, sensor assembly 914 may detect an open/closed state of device 900, the relative positioning of components, such as a display and keypad of device 900, the change in position of device 900 or a component of device 900, the presence or absence of user contact with device 900, the orientation or acceleration/deceleration of device 900, and the change in temperature of device 900. The sensor assembly 914 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 914 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 916 is configured to facilitate communications between the apparatus 900 and other devices in a wired or wireless manner. The apparatus 900 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 916 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 916 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 900 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 904 comprising instructions, executable by the processor 920 of the apparatus 900 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
A non-transitory computer-readable storage medium, in which instructions are executed by a processor of a terminal device, so that the terminal device can perform the method of initial parking location information determination of the terminal device.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof.
Claims (11)
1. A method of initial parking location information determination, the method comprising:
acquiring data information of a target parking space and data information of obstacles in a preset range of a vehicle through a perception sensor of the vehicle;
determining parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle;
and determining initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle.
2. The method of claim 1, wherein determining parking position information in the target space based on the data information of the target space and the data information of the vehicle itself comprises:
converting the data information of the target parking space from a sensor coordinate system to a parking coordinate system to obtain the data information of the target parking space in the parking coordinate system;
converting the data information of the vehicle from a vehicle coordinate system to a parking coordinate system to obtain the data information of the vehicle under the parking coordinate system;
determining parking position information in the target parking space according to the data information of the target parking space in the parking coordinate system and the data information of the vehicle in the parking coordinate system, wherein the parking position information in the target parking space is information in the parking coordinate system.
3. The method of claim 2, wherein the data information of the target slot comprises a length of the target slot, a safe distance of the vehicle, and a width of the target slot; the data information of the vehicle comprises the length of the vehicle, the width of the vehicle and the distance between the central points of the front axle and the rear axle of the vehicle; determining parking position information in the target parking space according to the data information of the target parking space in the parking coordinate system and the data information of the vehicle in the parking coordinate system, wherein the determining comprises the following steps:
determining the abscissa of the parking position information according to the length of the target parking space, the safety distance of the vehicle, the length of the vehicle and the distance between the central points of the front axle and the rear axle of the vehicle;
determining a vertical coordinate of the parking position information according to the width of the target parking space, the safety distance of the vehicle and the width of the vehicle; and the abscissa of the parking position information and the ordinate of the parking position information are used as the parking position information in the target parking space under the parking coordinate system.
4. The method of claim 1, wherein determining initial parking position information of the vehicle according to the parking position information and obstacle data information within a preset range of the vehicle comprises:
determining a preset parking path of the vehicle according to the parking position information; the parking position information is a starting point of a preset parking path of the vehicle;
and if the obstacle data information in the preset range is not on the preset parking path of the vehicle, taking the end point of the preset parking path of the vehicle as the initial parking position information of the vehicle.
5. The method of claim 4, further comprising:
and if the data information of the obstacles in the preset range is on the preset parking path of the vehicle, re-determining the data information of a new target parking space.
6. The method of claim 4, wherein determining a preset parking path for the vehicle based on the parking location information comprises:
and calculating a preset parking path of the vehicle based on a clothoid algorithm.
7. The method of any one of claims 1-6, further comprising, after determining initial parking location information for the vehicle:
and controlling the vehicle to run from the current parking position to the initial parking position of the vehicle according to the initial parking position information of the vehicle.
8. An apparatus for initial parking position information determination, characterized in that the apparatus comprises:
the acquisition module is used for acquiring data information of a target parking space and data information of obstacles in a preset range of the vehicle through a perception sensor of the vehicle;
the parking position information determining module is used for determining the parking position information in the target parking space according to the data information of the target parking space and the data information of the vehicle;
and the initial parking position information determining module is used for determining the initial parking position information of the vehicle according to the parking position information and the obstacle data information in the preset range of the vehicle.
9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the method of any one of claims 1-7.
11. A computer program product, comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-7.
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| CN202111132408.0A CN113561970A (en) | 2021-09-27 | 2021-09-27 | Method, device, equipment and storage medium for determining initial parking position information |
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| CN202111132408.0A CN113561970A (en) | 2021-09-27 | 2021-09-27 | Method, device, equipment and storage medium for determining initial parking position information |
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