CN113895430B - Parking method and device based on charging pile position identification and terminal equipment - Google Patents
Parking method and device based on charging pile position identification and terminal equipment Download PDFInfo
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- CN113895430B CN113895430B CN202111487459.5A CN202111487459A CN113895430B CN 113895430 B CN113895430 B CN 113895430B CN 202111487459 A CN202111487459 A CN 202111487459A CN 113895430 B CN113895430 B CN 113895430B
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- 238000000034 method Methods 0.000 title claims abstract description 29
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- 238000010586 diagram Methods 0.000 description 5
- 238000012549 training Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
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- 238000004891 communication Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
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- 238000013527 convolutional neural network Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The invention discloses a parking method, a parking device and a parking terminal device based on charging pile position identification, wherein the method comprises the following steps: acquiring a parking area image, and outputting the parking area image to a preset charging parking space identification model so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image to generate position information of the charging piles and position information of the parking spaces; determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of a vehicle charging port; and parking the vehicle into the parking space according to the selected parking mode and the position information of the parking space. By implementing the method and the device, a parking mode can be automatically selected and automatic parking can be performed based on position identification of the charging pile.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to a parking method and device based on charging pile position identification and a terminal device.
Background
In order to improve the convenience of parking, many existing fuel vehicles are equipped with an automatic parking function, and the specific principle is that parking space line information on two sides of the vehicle is detected through a 360-degree look-around system of the vehicle, the position information of parking spaces is determined, and then automatic parking is carried out. However, the new energy automobile needs to be charged, so that the automobile often needs to be parked in a parking space provided with a charging pile when the automobile is parked, and the parking mode of the automobile is influenced by the position of a charging port of the automobile and the position of the charging pile, so that the problem that how to automatically identify the parking space provided with the charging pile and automatically park the automobile is urgent to be solved is solved.
Disclosure of Invention
The embodiment of the invention provides a parking method based on charging pile position identification, which can automatically select a parking mode and carry out automatic parking based on the charging pile position identification.
An embodiment of the invention provides a parking method based on charging pile position identification, which comprises the following steps: acquiring a parking area image, and outputting the parking area image to a preset charging parking space identification model so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image to generate position information of the charging piles and position information of the parking spaces;
determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of a vehicle charging port;
and stopping the vehicle into the parking space according to the parking mode and the position information of the parking space.
Further, the method for determining the selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of the charging port of the vehicle specifically comprises the following steps;
when the parking space is determined to be a vertical parking space according to the position information of the parking space, taking a vertical parking mode in which the distance between a vehicle charging port and a charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode;
and when the parking space is determined to be a lateral parking space according to the position information of the parking space, taking a measuring parking mode in which the distance between a charging port of the vehicle and the charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode.
Further, the method also comprises the following steps: if a plurality of parking spaces and a plurality of charging piles are identified from the parking area image, determining the parking space corresponding to each charging pile according to the distance between each charging pile and each parking space;
taking a charging pile closest to the vehicle as a selected charging pile, and taking a parking place corresponding to the selected charging pile as a selected parking place;
determining a second selected parking mode according to the position information of the selected charging pile, the position information of the selected parking space and the position information of the vehicle charging port;
and parking the vehicle into the selected parking space according to the second selected parking mode and the position information of the selected parking space.
Further, the method also comprises the following steps: after the selected parking mode is determined, associating and storing first position information of the position of the current vehicle with position information of the parking space and the determined selected parking mode;
and when the vehicle reaches the position corresponding to the first position information again, stopping the vehicle in the parking space according to the selected parking mode associated with the first position information and the position information of the parking space associated with the first position information.
On the basis of the embodiment of the method, the invention correspondingly provides a parking device based on the position identification of the charging pile, which comprises the following steps: the system comprises an identification module, a parking mode determination module and an automatic parking module;
the identification module is used for acquiring a parking area image, outputting the parking area image to a preset charging parking space identification model, so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image, and generates position information of the charging piles and position information of the parking spaces;
the parking mode determining module is used for determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of the charging port of the vehicle;
and the automatic parking module is used for parking the vehicle into the parking space according to the selected parking mode and the position information of the parking space.
Further, the method for determining the selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of the charging port of the vehicle specifically comprises the following steps of;
when the parking space is determined to be a vertical parking space according to the position information of the parking space, taking a vertical parking mode with the minimum distance between a vehicle charging port and a charging pile when the vehicle is parked in the parking space as a selected parking mode;
and when the parking space is determined to be a lateral parking space according to the position information of the parking space, taking a measuring parking mode in which the distance between a charging port of the vehicle and the charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode.
Further, the method also comprises the following steps: a second automatic parking module; the second automatic parking module is used for determining a parking place corresponding to each charging pile according to the distance between each charging pile and each parking place when a plurality of parking places and a plurality of charging piles are identified from the parking area image;
taking a charging pile closest to the vehicle as a selected charging pile, and taking a parking place corresponding to the selected charging pile as a selected parking place;
determining a second selected parking mode according to the position information of the selected charging pile, the position information of the selected parking place and the position information of the vehicle charging port;
and parking the vehicle into the selected parking space according to the second selected parking mode and the position information of the selected parking space.
Further, the method also comprises the following steps: a third automatic parking module; the third automatic parking module is used for associating and storing first position information of the position of the current vehicle with position information of the parking space and the determined selected parking mode after the selected parking mode is determined;
and when the vehicle reaches the position corresponding to the first position information again, stopping the vehicle into the parking space according to the selected parking mode associated with the first position information and the position information of the parking space associated with the first position information.
On the basis of the embodiment of the method item, the invention correspondingly provides an embodiment of the terminal equipment item;
an embodiment of the present invention provides a terminal device, including: the parking system comprises a processor, a memory and a computer program which is stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the parking method based on charging pile position identification is realized.
The invention has the following beneficial effects by implementing:
the embodiment of the invention provides a parking method, a parking device and a parking terminal device based on charging pile position identification, wherein the method comprises the following steps: the method comprises the steps of obtaining a parking area image, identifying parking places and charging piles in the parking area image through a preset charging parking place identification model, then generating position information of the charging piles and position information of the parking places, determining a selected parking mode according to the position information of the charging piles, the position information of the parking places and the position information of a vehicle charging port, and parking a vehicle into the parking place according to the selected parking mode and the position information of the parking places. Compared with the prior art, the parking method and the parking system can identify the parking spaces and the charging piles, and then determine the final parking mode according to the position information of the charging piles, the parking spaces and the charging ports of the vehicles, so that automatic parking is completed, and the parking requirements of new energy automobiles with charging requirements are met.
Drawings
Fig. 1 is a schematic flowchart of a parking method based on charging pile location identification according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the principle of vertical parking according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a vertical tail parking principle according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the principle of horizontal side docking according to an embodiment of the present invention.
FIG. 5 is a schematic diagram illustrating another principle of horizontal side docking according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a parking apparatus based on charging pile position identification according to an embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a parking method for identifying a charging pile location, including at least the following steps:
step S101: acquiring a parking area image, and outputting the parking area image to a preset charging parking space identification model so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image to generate position information of the charging piles and position information of the parking spaces;
step S102: determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of a charging port of the vehicle;
and S103, parking the vehicle into the parking space according to the selected parking mode and the position information of the parking space.
Step S101, firstly, the charging parking space recognition model is explained, firstly, images of a plurality of parking areas are obtained to serve as training samples, feature extraction is carried out on the parking space lines and the charging piles of the training samples, features such as colors and shapes of the parking space lines are extracted for the parking space lines, and features such as shapes of the charging piles in the charging piles and shapes of the whole charging pile shell are extracted for the charging piles. And training based on a convolutional neural network by taking the characteristics as input and the recognized position information of the charging pile and the recognized position information of the parking space as output, and obtaining the charging parking space recognition model after the training is finished.
When parking, an image of a parking area is obtained through a camera device arranged on a vehicle, then the currently obtained image of the parking area is input into a trained charging parking space recognition model, so that the parking space and the charging pile in the currently obtained image of the parking area can be recognized, and the position information of the corresponding charging pile and the position information of the parking space are output.
For step S102, in a preferred embodiment, the determining a selected parking mode according to the location information of the charging pile, the location information of the parking space, and the location information of the charging port of the vehicle specifically includes;
when the parking space is determined to be a vertical parking space according to the position information of the parking space, taking a vertical parking mode with the minimum distance between a vehicle charging port and a charging pile when the vehicle is parked in the parking space as a selected parking mode;
and when the parking space is determined to be a lateral parking space according to the position information of the parking space, taking a measuring parking mode in which the distance between a charging port of the vehicle and the charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode.
Specifically, according to the relative position relationship between the vehicle and the parking space, the parking space types are divided into: the parking spaces are vertical to the parking spaces and the lateral parking spaces; as shown in fig. 2 and 3, the vertical parking space is vertical relative to the vehicle; as shown in fig. 4 and 5, the vehicle space is parallel to the vehicle, i.e., located on the side of the vehicle.
When the parking space is a vertical parking space, a vertical parking mode is adopted for parking, and the vertical parking mode comprises the following steps: vertical parking at the head of the vehicle and vertical parking at the tail of the vehicle; the car head is vertically parked, and after the car head is parked in the parking space, the car head faces the bottom of the parking space as shown in fig. 2; parking the car in the vertical car tail parking space, as shown in fig. 3, the parked car tail faces the bottom of the parking space; specifically, vertical parking at the head of the vehicle or vertical parking at the tail of the vehicle is selected according to the position of a charging port of the vehicle and the position of a charging pile; the criteria chosen were: and after the vehicle is parked in the parking space, taking a vertical parking mode that the distance between a vehicle charging port and a vehicle charging pile is short as a selected parking mode.
Illustratively, as shown in fig. 2, the parking stall is the vertical parking stall for the vehicle, and if the vehicle charges mouthful and is located locomotive department (generally set up in locomotive bumper position) this moment, and fills electric pile 1 and be located the parking stall bottom, should make the locomotive towards the parking stall bottom when so parkking, the vehicle charges mouthful and fills electric pile 1 nearest apart from when just enabling the vehicle to park the parking stall, is convenient for charge, then can confirm the mode of parking of vehicle and park for vertical locomotive and park into this moment.
As shown in fig. 3, the parking space is a vertical parking space relative to the vehicle, and at this time, if the vehicle charging port is located on the right side of the vehicle body (the same as the position of the fuel filler of a general fuel vehicle, and located behind the right side of the vehicle body), and the charging pile 1 is located on the right side of the parking space, then when parking, the vehicle should be driven to move towards the bottom of the parking space, the vehicle charging port is closest to the charging pile 1, so that charging is facilitated, and then it can be determined that the parking mode of the vehicle is vertical rear parking.
When the parking space is a lateral parking space, a lateral parking mode is adopted for parking, and the lateral parking mode comprises the following steps: parking the lateral car head and the lateral car tail; the lateral car head is parked as shown in fig. 4, and the car head faces the top of the parking space after being parked in the parking space; parking the lateral car tails in the parking spaces, wherein the car tails face to the tops of the parking spaces after parking as shown in fig. 5; specifically, whether the vehicle is parked at the front of the side car or at the back of the side car is selected according to the position of a charging port of the vehicle and the position of a charging pile; the criteria chosen were: and after the vehicle is parked in the parking space, taking a side parking mode that the distance between the vehicle charging port and the vehicle charging pile is shorter as a selected parking mode.
Illustratively, as shown in fig. 4, the parking stall is the level parking stall for the vehicle, and if the vehicle charges mouthful and is located locomotive department this moment, and fills electric pile 1 when being located the parking stall top, should make the locomotive towards the parking stall top when so parkking, and the vehicle charges mouthful distance and fills electric pile 1 nearest when just enabling the vehicle to park the parking stall, is convenient for charge, so can confirm the mode of parking of vehicle and park for the side locomotive and enter this moment.
As shown in fig. 5, the parking space is a horizontal parking space in a parallel state relative to the vehicle, at this time, if the vehicle charging port is located at the vehicle and the charging pile 1 is located at the bottom of the parking space, the vehicle head should face the bottom of the parking space during parking, the distance between the vehicle charging port and the charging pile 1 is the closest to facilitate charging, and then it can be determined that the parking mode of the vehicle is lateral vehicle rear parking.
In step S103, after the selected parking mode is determined, the vehicle is automatically parked in the parking space according to the determined selected parking mode and the position information of the parking space.
In a preferred embodiment, further comprising: if a plurality of parking spaces and a plurality of charging piles are identified from the parking area image, determining the parking space corresponding to each charging pile according to the distance between each charging pile and each parking space; taking a charging pile closest to the vehicle as a selected charging pile, and taking a parking place corresponding to the selected charging pile as a selected parking place; determining a second selected parking mode according to the position information of the selected charging pile, the position information of the selected parking place and the position information of the vehicle charging port; and parking the vehicle into the selected parking space according to the second selected parking mode and the position information of the selected parking space.
In an actual situation, a plurality of parking spaces and a plurality of charging piles may exist in one parking area image, so that when the vehicle is automatically parked, the corresponding relationship between each parking space and each charging pile needs to be determined, and the parking space which needs to be parked is selected. Therefore, when a plurality of charging piles and a plurality of parking spaces are identified, the distance between each charging pile and each parking space is calculated, and the parking space with the shortest distance is used as the parking space corresponding to the charging pile, so that the corresponding relation between each charging pile and each parking space is determined.
And then, taking the charging pile closest to the vehicle as a selected charging pile, taking the parking place corresponding to the selected charging pile as a selected parking place, determining a second selected parking way according to the position information of the selected charging pile, the position information of the selected parking place and the position information of the charging port of the vehicle in the step S102, and then carrying out automatic parking.
In a preferred embodiment, further comprising: after the selected parking mode is determined, associating and storing first position information of the position of the current vehicle with position information of the parking space and the determined selected parking mode; and when the vehicle reaches the position corresponding to the first position information again, stopping the vehicle in the parking space according to the selected parking mode associated with the first position information and the position information of the parking space associated with the first position information.
In order to improve the parking efficiency in the embodiment, after the selected parking mode is determined each time, the currently determined parking mode and the position information of the parking space are bound with the position of the current vehicle and then stored, and when the vehicle reaches the same position again, the corresponding parking mode and the position information of the parking space can be called out, so that automatic parking can be completed. The parking area image does not need to be collected again to identify and analyze the image, and the parking efficiency is greatly improved.
On the basis of the embodiment of the method item, the invention correspondingly provides an embodiment of a device item;
as shown in fig. 6, an embodiment of the present invention provides a parking apparatus based on charging pile location identification, including: the parking system comprises an identification module, a parking mode determination module and an automatic parking module;
the identification module is used for acquiring a parking area image, outputting the parking area image to a preset charging parking space identification model, so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image, and generates position information of the charging piles and position information of the parking spaces;
the parking mode determining module is used for determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of the charging port of the vehicle;
and the automatic parking module is used for parking the vehicle into the parking space according to the selected parking mode and the position information of the parking space.
In a preferred embodiment, the determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of the charging port of the vehicle specifically includes;
when the parking space is determined to be a vertical parking space according to the position information of the parking space, taking a vertical parking mode in which the distance between a vehicle charging port and a charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode;
and when the parking space is determined to be a side parking space according to the position information of the parking space, taking a side parking mode with the minimum distance between a charging port of the vehicle and the charging pile when the vehicle is parked in the parking space as a selected parking mode.
In a preferred embodiment, further comprising: a second automatic parking module; the second automatic parking module is used for determining a parking place corresponding to each charging pile according to the distance between each charging pile and each parking place when a plurality of parking places and a plurality of charging piles are identified from the parking area image;
taking a charging pile closest to the vehicle as a selected charging pile, and taking a parking place corresponding to the selected charging pile as a selected parking place;
determining a second selected parking mode according to the position information of the selected charging pile, the position information of the selected parking place and the position information of the vehicle charging port;
and parking the vehicle into the selected parking space according to the second selected parking mode and the position information of the selected parking space.
In a preferred embodiment, further comprising: a third automatic parking module;
the third automatic parking module is used for associating and storing the first position information of the position of the current vehicle with the position information of the parking space and the determined selected parking mode after the selected parking mode is determined;
and when the vehicle reaches the position corresponding to the first position information again, stopping the vehicle into the parking space according to the selected parking mode associated with the first position information and the position information of the parking space associated with the first position information.
On the basis of the embodiment of the method item, the invention correspondingly provides an embodiment of the terminal equipment item;
an embodiment of the present invention provides a terminal device, including: the parking system comprises a processor, a memory and a computer program which is stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the parking method based on charging pile position identification is realized.
The terminal device may be a vehicle-mounted terminal. The terminal device may include, but is not limited to, a processor, a memory.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, said processor being the control center of said terminal device, and various interfaces and lines are used to connect the various parts of the whole terminal device.
The memory may be used for storing the computer programs and/or modules, and the processor may implement various functions of the terminal device by executing or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the memory may include high speed random access memory and may also include non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (5)
1. A parking method based on charging pile position identification is characterized by comprising the following steps:
acquiring a parking area image, and outputting the parking area image to a preset charging parking space identification model so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image to generate position information of the charging piles and position information of the parking spaces;
determining a selected parking mode according to the position information of the charging pile, the position information of the parking space and the position information of a vehicle charging port;
parking the vehicle into the parking space according to the selected parking mode and the position information of the parking space;
if a plurality of parking spaces and a plurality of charging piles are identified from the parking area image, determining a parking space corresponding to each charging pile according to the distance between each charging pile and each parking space, wherein the parking space corresponding to one charging pile is the parking space with the shortest distance to the charging pile; taking the charging pile closest to the vehicle as a selected charging pile, and taking the parking place corresponding to the selected charging pile as a selected parking place; determining a second selected parking mode according to the position information of the selected charging pile, the position information of the selected parking place and the position information of the vehicle charging port; stopping the vehicle into the selected parking space according to the second selected parking mode and the position information of the selected parking space;
after the selected parking mode is determined, associating and storing first position information of the position of the current vehicle with position information of the parking space and the determined selected parking mode; and when the vehicle reaches the position corresponding to the first position information again, stopping the vehicle in the parking space according to the selected parking mode associated with the first position information and the position information of the parking space associated with the first position information.
2. The parking method based on the charging pile position identification as claimed in claim 1, wherein the determining of the selected parking mode according to the charging pile position information, the parking space position information and the vehicle charging port position information specifically comprises;
when the parking space is determined to be a vertical parking space according to the position information of the parking space, taking a vertical parking mode with the minimum distance between a vehicle charging port and a charging pile when the vehicle is parked in the parking space as a selected parking mode;
and when the parking space is determined to be a side parking space according to the position information of the parking space, taking a side parking mode with the minimum distance between a charging port of the vehicle and the charging pile when the vehicle is parked in the parking space as a selected parking mode.
3. A parking device based on charging pile position identification is characterized by comprising: the system comprises an identification module, a parking mode determination module, an automatic parking module, a second automatic parking module and a third automatic parking module;
the identification module is used for acquiring a parking area image, outputting the parking area image to a preset charging parking space identification model, so that the charging parking space identification model identifies parking spaces and charging piles in the parking area image, and generates position information of the charging piles and position information of the parking spaces;
the parking mode determining module is used for determining a selected parking mode according to the position information of the charging pile, the position information of the parking place and the position information of a charging port of the vehicle;
the automatic parking module is used for parking the vehicle into the parking space according to the selected parking mode and the position information of the parking space;
the second automatic parking module is used for determining a parking space corresponding to each charging pile according to the distance between each charging pile and each parking space when a plurality of parking spaces and a plurality of charging piles are identified from the parking area image, wherein the parking space corresponding to one charging pile is the parking space with the shortest distance to the charging pile; taking the charging pile closest to the vehicle as a selected charging pile, and taking the parking place corresponding to the selected charging pile as a selected parking place; determining a second selected parking mode according to the position information of the selected charging pile, the position information of the selected parking place and the position information of the vehicle charging port;
the third automatic parking module is used for associating and storing the first position information of the position of the current vehicle with the position information of the parking space and the determined selected parking mode after the selected parking mode is determined; and when the vehicle reaches the position corresponding to the first position information again, stopping the vehicle in the parking space according to the selected parking mode associated with the first position information and the position information of the parking space associated with the first position information.
4. The parking device based on charging pile position identification as claimed in claim 3, wherein the determining of the selected parking mode according to the charging pile position information, the parking space position information and the vehicle charging port position information specifically comprises;
when the parking space is determined to be a vertical parking space according to the position information of the parking space, taking a vertical parking mode in which the distance between a vehicle charging port and a charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode;
and when the parking space is determined to be a lateral parking space according to the position information of the parking space, taking a measuring parking mode in which the distance between a charging port of the vehicle and the charging pile is minimum when the vehicle is parked in the parking space as a selected parking mode.
5. A terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, when executing the computer program, implementing the parking method based on charging post location identification according to any one of claims 1-2.
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| DE102022213363A1 (en) | 2022-12-09 | 2024-06-20 | Volkswagen Aktiengesellschaft | Method for parking an electrically driven vehicle at a charging station |
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