CN114179834B

CN114179834B - Vehicle parking method, device, electronic equipment, medium and automatic driving vehicle

Info

Publication number: CN114179834B
Application number: CN202111653028.1A
Authority: CN
Inventors: 王泽旭; 于宁
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-12-12
Anticipated expiration: 2041-12-30
Also published as: CN114179834A

Abstract

The disclosure provides a vehicle parking method, a device, electronic equipment, a medium and a vehicle, and relates to the field of artificial intelligence, in particular to the field of automatic driving. The implementation scheme is as follows: dividing a region to be parked of a vehicle into a plurality of sub-regions; and in response to determining that at least one obstacle is present in the area to be parked, selecting a target sub-area for parking the vehicle from the plurality of sub-areas based at least on a relative positional relationship between each of the plurality of sub-areas and the at least one obstacle.

Description

Vehicle parking method, device, electronic equipment, medium and automatic driving vehicle

Technical Field

The present disclosure relates to the field of artificial intelligence, and more particularly to the field of autopilot technology, and in particular to a method, apparatus, electronic device, computer readable storage medium, computer program product and vehicle for vehicle parking.

Background

Artificial intelligence is the discipline of studying the process of making a computer mimic certain mental processes and intelligent behaviors (e.g., learning, reasoning, thinking, planning, etc.) of a person, both hardware-level and software-level techniques. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge graph technology and the like.

The automatic driving field realizes the automation of starting, driving and stopping of the vehicle by combining an artificial intelligence technology and a high-precision map. High-precision maps, also called high-precision maps, are maps used by autopilot vehicles. The high-precision map has accurate vehicle position information and rich road element data information, and can help automobiles to predict complex road surface information such as gradient, curvature, heading and the like, so that potential risks are better avoided.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been recognized in any prior art unless otherwise indicated.

Disclosure of Invention

The present disclosure provides a method, apparatus, electronic device, computer-readable storage medium, computer program product, and vehicle for vehicle parking.

According to an aspect of the present disclosure, there is provided a vehicle parking method including: dividing a region to be parked of a vehicle into a plurality of sub-regions; and in response to determining that at least one obstacle is present in the area to be parked, selecting a target sub-area for parking the vehicle from the plurality of sub-areas based at least on a relative positional relationship between each of the plurality of sub-areas and the at least one obstacle.

According to another aspect of the present disclosure, there is provided a vehicle parking apparatus including: a dividing unit configured to divide an area to be parked of the vehicle into a plurality of sub-areas; and a selection unit configured to select a target subregion for parking the vehicle from the plurality of subregions based at least on a relative positional relationship between each of the plurality of subregions and the at least one obstacle in response to determining that the at least one obstacle is present in the region to be parked.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the above-described method.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method described above.

According to another aspect of the present disclosure, a vehicle includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

According to one or more embodiments of the present disclosure, a parking position can be flexibly determined for each vehicle in a range of a waiting area for an obstacle position, so that different vehicles can perform parking based on different positions, and traffic jam caused by vehicle queuing is avoided.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The accompanying drawings illustrate exemplary embodiments and, together with the description, serve to explain exemplary implementations of the embodiments. The illustrated embodiments are for exemplary purposes only and do not limit the scope of the claims. Throughout the drawings, identical reference numerals designate similar, but not necessarily identical, elements.

FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, in accordance with an embodiment of the present disclosure;

FIG. 2 illustrates a flow chart of a vehicle parking method according to an embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of an estuary site according to an embodiment of the present disclosure;

FIG. 4 shows a block diagram of a vehicle dock according to an embodiment of the present disclosure;

fig. 5 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used to distinguish one element from another element. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on the description of the context.

The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.

In the automatic driving technique, automatic parking of a vehicle is an important one thereof. For example, for buses, dollies, the flexibility of their approach to stop when passengers are docked has a very large impact on the overall automated driving ride experience.

In the related art, a parking policy of a vehicle is formulated based on a single target parking position, i.e., all vehicles are parked to the same position. By adopting the parking mode, vehicles are easy to wait in a queue under the condition of large traffic flow or static illegal parking at a target parking position, so that traffic jam is caused.

Based on this, the present disclosure provides a vehicle parking method of dividing a region to be parked of a vehicle into a plurality of sub-regions, and selecting a target sub-region for parking the vehicle from the plurality of sub-regions based at least on a relative positional relationship between each of the plurality of sub-regions and at least one obstacle in a case where it is determined that at least one obstacle exists in the region to be parked.

Therefore, according to the obstacle position, the parking position can be flexibly determined for each vehicle in the range of the to-be-parked area, so that different vehicles can park based on different positions, traffic jam caused by vehicle queuing is avoided, reliability is ensured, and meanwhile, the flexibility of vehicle parking is improved.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented, in accordance with an embodiment of the present disclosure. Referring to fig. 1, the system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.

In an embodiment of the present disclosure, motor vehicle 110 may include a computing device in accordance with an embodiment of the present disclosure and/or be configured to perform a method in accordance with an embodiment of the present disclosure.

The server 120 may run one or more services or software applications that enable the method of vehicle parking. In some embodiments, server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof that are executable by one or more processors. A user of motor vehicle 110 may in turn utilize one or more client applications to interact with server 120 to utilize the services provided by these components. It should be appreciated that a variety of different system configurations are possible, which may differ from system 100. Accordingly, FIG. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture that involves virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain virtual storage devices of the server). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above as well as any commercially available server operating systems. Server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of motor vehicle 110.

Network 130 may be any type of network known to those skilled in the art that may support data communications using any of a number of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, the one or more networks 110 may be a satellite communications network, a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (including, for example, bluetooth, wiFi), and/or any combination of these with other networks.

The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of databases 150 may be used to store information such as audio files and video files. The data store 150 may reside in various locations. For example, the data store used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data store 150 may be of different types. In some embodiments, the data store used by server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve the databases and data from the databases in response to the commands.

In some embodiments, one or more of databases 150 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key value stores, object stores, or conventional stores supported by the file system.

Motor vehicle 110 may include a sensor 111 for sensing the surrounding environment. The sensors 111 may include one or more of the following: visual cameras, infrared cameras, ultrasonic sensors, millimeter wave radar, and laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be mounted in front of, behind or other locations on the vehicle. The vision cameras can capture the conditions inside and outside the vehicle in real time and present them to the driver and/or passengers. In addition, by analyzing the captured images of the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, etc. can be acquired. The infrared camera can capture objects under night vision. The ultrasonic sensor can be arranged around the vehicle and is used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directivity and the like. The millimeter wave radar may be installed in front of, behind, or other locations of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. Lidar may be mounted in front of, behind, or other locations on the vehicle for detecting object edges, shape information for object identification and tracking. The radar apparatus may also measure a change in the speed of the vehicle and the moving object due to the doppler effect.

Motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with the mobile communication base station 142, and the mobile communication network may implement any suitable communication technology, such as the current or evolving wireless communication technology (e.g., 5G technology) such as GSM/GPRS, CDMA, LTE. The communication device 112 may also have a Vehicle-to-Everything (V2X) module configured to enable, for example, vehicle-to-Vehicle (V2V) communication with other vehicles 143 and Vehicle-to-Infrastructure (V2I) communication with Infrastructure 144. In addition, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to a smart phone, tablet computer, or wearable device such as a watch), for example, by using a wireless local area network or bluetooth of the IEEE802.11 standard. With the communication device 112, the motor vehicle 110 can also access the server 120 via the network 130.

Motor vehicle 110 may also include a control device 113. The control device 113 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., in communication with various types of computer readable storage devices or mediums. The control device 113 may include an autopilot system for automatically controlling various actuators in the vehicle. The autopilot system is configured to control a powertrain, steering system, braking system, etc. of a motor vehicle 110 (not shown) via a plurality of actuators in response to inputs from a plurality of sensors 111 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Part of the processing functions of the control device 113 may be implemented by cloud computing. For example, some of the processing may be performed using an onboard processor while other processing may be performed using cloud computing resources. The control device 113 may be configured to perform a method according to the present disclosure. Furthermore, the control means 113 may be implemented as one example of a computing device on the motor vehicle side (client) according to the present disclosure.

The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

Fig. 2 shows a flowchart of a vehicle parking method according to an embodiment of the present disclosure, as shown in fig. 2, the vehicle parking method includes: step S201, dividing a region to be parked of a vehicle into a plurality of sub-regions; and step S202, in response to determining that at least one obstacle exists in the area to be parked, selecting a target sub-area for parking the vehicle from the plurality of sub-areas based at least on a relative positional relationship between each sub-area of the plurality of sub-areas and the at least one obstacle.

Therefore, according to the obstacle position, the parking position can be flexibly determined for each vehicle in the range of the to-be-parked area, so that different vehicles can park based on different positions, and traffic jam caused by vehicle queuing is avoided.

For step S201, according to some embodiments, the area to be docked may be a docking area of an estuary site. Wherein the estuary type station is a type of bus station.

Fig. 3 shows a schematic diagram of an estuary site according to an embodiment of the present disclosure. As shown in fig. 3, the docking area, i.e., the area to be parked, in the estuary site is located outside the vehicle driving area, and only the ingress and egress and parking of a specific vehicle (e.g., a bus) are allowed, so that passengers can get on and off safely.

It is to be understood that the area to be parked shown in fig. 3 is only one exemplary area to be parked in which the present disclosure may be implemented, and the present disclosure is not limited to the form of the area to be parked, and any area capable of allowing a vehicle to be parked is within the scope of the present disclosure.

According to some embodiments, the vehicle may determine the location of the area to be parked through labeling information in a high-precision map.

In one embodiment, the vehicle may determine the position of the to-be-parked area through coordinate information of four corner points of the to-be-parked area in the high-precision map.

According to some embodiments, dividing the region to be parked of the vehicle into a plurality of sub-regions may include: performing meshing of the to-be-docked region to obtain a plurality of sub-regions. In this way, different sub-areas can be assigned to different vehicles in the area to be parked for parking.

According to some embodiments, the size of each sub-area resulting from the meshing may be determined according to the size of the vehicle.

For step S202, the at least one obstacle may be determined by the identification of the sensing device of the vehicle itself, or may be determined based on information obtained from a server, roadside equipment or other vehicles, without limitation.

According to some embodiments, determining an obstacle in the area to dock may further comprise: determining one or more alternative objects in the region to be docked; and for each of the one or more alternative objects, in response to determining that the alternative object is a static offender, determining the alternative object as an obstacle. It may thus be determined whether to execute the docking method based on the different types of candidate objects.

In one embodiment, a vehicle determines one or more alternative objects in an area to be parked by sensing device or network data. Wherein the candidate object may be any person or thing that may obstruct the vehicle from stopping, such as a pedestrian, a out-of-park, or a static out-of-park.

In one embodiment, for a static offender, since it is expected not to travel away from the area to be parked for a short period of time, it may be determined as an obstacle to avoid traffic congestion caused by vehicles waiting in line to park in the area occupied by the static offender.

According to some embodiments, it may be determined whether the candidate object is a static offender by identifying whether the candidate object moves within a preset time period.

According to some embodiments, for each of the one or more alternative objects, in response to determining that the alternative object is a pedestrian or an idle vehicle, the alternative object is not determined to be an obstacle.

For pedestrians and idle parking, the vehicle can be stopped in the original occupied area after the pedestrians and idle parking leave the area to be parked without being determined as an obstacle, so that the vehicle is prevented from missing the ideal parking position due to temporary parking of the pedestrians and idle parking.

According to some embodiments, it may be determined whether the candidate object is a pedestrian by target recognition.

According to some embodiments, it may be determined whether the candidate object is a vehicle by object recognition, and further, it may be determined whether the vehicle is out of park by at least one of: identifying whether the vehicle is moving within a preset time period; and identifying whether a lamp of the vehicle is on.

According to some embodiments, selecting a target sub-area for parking the vehicle from the plurality of sub-areas based at least on a relative positional relationship between each of the plurality of sub-areas and the at least one obstacle may include: a target sub-area for parking the vehicle is selected from the plurality of sub-areas based on a first relative distance between each of the plurality of sub-areas and each of the at least one obstacle.

Based on the first relative distance between each of the plurality of sub-areas and each of the at least one obstacle, a degree of difficulty in driving the vehicle into or out of the sub-area may be determined. It will be appreciated that for any one sub-area, the closer the sub-area is to the obstacle, the more difficult it is for the vehicle to park in that area, by obtaining a first relative distance between each sub-area and each of the at least one obstacle, an area may be determined for the vehicle to facilitate parking.

In particular, for any one of the sub-regions, the sub-region is not determined as the target sub-region in response to a first relative distance between the sub-region and any one of the at least one obstacle being 0, i.e. there being an obstacle in the sub-region.

According to some embodiments, selecting a target sub-area for parking the vehicle from the plurality of sub-areas based at least on a relative positional relationship between each of the plurality of sub-areas and the at least one obstacle may further comprise: a target sub-area for parking the vehicle is selected from the plurality of sub-areas based on a relative positional relationship between each of the plurality of sub-areas and the at least one obstacle and positional information of the sub-area in the area to be parked.

Therefore, the target subarea can be determined based on the position of each subarea and the relation between the subarea and the obstacle at the same time, and the reliability of vehicle parking is further improved.

According to some embodiments, the target docking location may be included in the region to be docked, and wherein the location information of each sub-region of the plurality of sub-regions in the region to be docked may include a second relative distance between the sub-region and the target docking location. Thereby, the vehicle is enabled to stop in an area close to the target stop position while avoiding the influence of the obstacle.

According to some embodiments, the target dock location may be a point in the area to dock. For example, taking fig. 3 as an example, the target parking position may be at a center position of the area to be parked.

According to some embodiments, the target dock location may be a line in the area to dock. In particular, for the case of getting on or off the right side of the vehicle, the target parking position may be the right boundary of the region to be parked, thereby enabling the vehicle to park as close to the right boundary of the region to be parked as possible without interference of the obstacle, so as to facilitate getting on or off the passenger. Similarly, for the case of getting on and off on the left side of the vehicle, the target parking position may be the left boundary of the area to be parked.

According to some embodiments, selecting a target sub-region for parking the vehicle from the plurality of sub-regions may include: determining, for each sub-region of the plurality of sub-regions, a cost value for the sub-region based on a first relative distance between the sub-region and each of the at least one obstacle and a second relative distance between the sub-region and the target dock location; and selecting a target sub-region for parking the vehicle from the plurality of sub-regions based on the cost value for each of the plurality of sub-regions.

By calculating the cost value for each sub-region, the quality of each sub-region can be quantified, i.e., the selection of the target sub-region can be automatically performed according to the magnitude order of the cost value for each of the plurality of sub-regions.

According to some embodiments, determining the cost value of the sub-region may include: the cost value of the sub-region is determined based on a weighted sum of the reciprocal of the first relative distance between the sub-region and each of the at least one obstacle and the second relative distance between the sub-region and the target dock location.

For example, the at least one obstacle is an obstacle A and an obstacle B, and the first relative distance between the sub-area and the obstacle A is l _A A first relative distance between the subarea and the obstacle B is l _B The second relative distance between the sub-region and the target rest position is l', and the cost value Q of the sub-region can be expressed as:

wherein alpha is ₁ Weight, alpha, the first relative distance between the sub-area and the obstacle A ₂ Being a weight of a first relative distance between the sub-region and obstacle B, β is a weight of a second relative distance between the sub-region and the target rest position.

It will be appreciated that the above method may be performed prior to the vehicle driving into the area to be docked. For example, an area of a preset length before the vehicle enters the area to be parked may be determined as a preparation area, and execution of any of the above methods may be initiated in response to the vehicle entering the preparation area. On the other hand, an area of a preset length after the vehicle has driven off the area to be parked may be determined as an outbound area, and in order to enable the vehicle to leave the area to be parked as soon as possible, the vehicle may be driven off the area to be parked at a smaller longitudinal distance in a manner that allows the vehicle to change lanes by a solid line, the compaction line to bypass an obstacle, or the like.

Fig. 4 shows a block diagram of a vehicle parking apparatus according to an embodiment of the present disclosure, as shown in fig. 4, a vehicle parking apparatus 400 includes: a dividing unit 401 configured to divide an area to be parked of a vehicle into a plurality of sub-areas; and a selection unit 402 configured to select a target subregion for parking the vehicle from the plurality of subregions based at least on a relative positional relationship between each of the plurality of subregions and the at least one obstacle in response to determining that the at least one obstacle is present in the region to be parked.

According to some embodiments, the selection unit comprises: a sub-unit for selecting a target sub-area for parking the vehicle from the plurality of sub-areas based on a first relative distance between each of the plurality of sub-areas and each of the at least one obstacle.

According to some embodiments, the selection unit comprises: a sub-unit for selecting a target sub-area for parking the vehicle from the plurality of sub-areas based on a relative positional relationship between each sub-area of the plurality of sub-areas and the at least one obstacle and positional information of the sub-area in the area to be parked.

According to some embodiments, the target docking position is included in the region to be docked, and wherein the position information of each sub-region of the plurality of sub-regions in the region to be docked includes a second relative distance between the sub-region and the target docking position.

According to some embodiments, the selection unit comprises: a first determination subunit configured to determine, for each of a plurality of subregions, a cost value for the subregion based on a first relative distance between the subregion and each of the at least one obstacle and a second relative distance between the subregion and the target stop location; and a selecting subunit configured to select a target subregion for parking the vehicle from the plurality of subregions based on the cost value of each of the plurality of subregions.

According to some embodiments, the first determining subunit comprises: and determining a cost value of the sub-region based on a weighted sum of the reciprocal of the first relative distance between the sub-region and each of the at least one obstacle and the second relative distance between the sub-region and the target dock location.

According to some embodiments, the selection unit further comprises a second determination subunit comprising: a subunit for determining one or more alternative objects in the region to dock; and a subunit for determining, for each of the one or more alternative objects, the alternative object as an obstacle in response to determining that the alternative object is a static offender.

According to some embodiments, the second determination subunit further comprises: a subunit for, for each of the one or more alternative objects, not determining the alternative object as an obstacle in response to determining that the alternative object is a pedestrian or an idle vehicle.

According to some embodiments, partitioning comprises: a subunit for performing meshing of the region to be docked to obtain a plurality of sub-regions.

There is also provided, in accordance with an embodiment of the present disclosure, an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the methods described above.

There is also provided, in accordance with an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform any one of the methods described above.

There is also provided, in accordance with an embodiment of the present disclosure, a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements any of the methods described above.

There is also provided, in accordance with an embodiment of the present disclosure, a vehicle including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the methods described above.

Referring to fig. 5, a block diagram of an electronic device 500 that may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the electronic device 500 includes a computing unit 501 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 may also be stored. The computing unit 501, ROM 502, and RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in electronic device 500 are connected to I/O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 may be any type of device capable of inputting information to the electronic device 500, the input unit 506 may receive input numeric or character information and generate key signal inputs related to user settings and/or function control of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and/or a remote control. The output unit 507 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 508 may include, but is not limited to, magnetic disks, optical disks. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices over a computer network such as the internet and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, 802.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as a vehicle parking method. For example, in some embodiments, the vehicle parking method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into RAM 503 and executed by computing unit 501, one or more steps of the vehicle parking method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the vehicle parking method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the foregoing methods, systems, and apparatus are merely exemplary embodiments or examples, and that the scope of the present invention is not limited by these embodiments or examples but only by the claims following the grant and their equivalents. Various elements of the embodiments or examples may be omitted or replaced with equivalent elements thereof. Furthermore, the steps may be performed in a different order than described in the present disclosure. Further, various elements of the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after the disclosure.

Claims

1. A vehicle parking method comprising:

dividing an area to be parked of the vehicle into a plurality of subareas; and

In response to determining that at least one obstacle is present in the region to be docked, selecting a target sub-region for docking the vehicle from the plurality of sub-regions based at least on a relative positional relationship between each sub-region of the plurality of sub-regions and the at least one obstacle and positional information of the sub-region in the region to be docked, wherein the region to be docked includes a target docking location, the positional information of each sub-region of the plurality of sub-regions in the region to be docked includes a second relative distance between the sub-region and the target docking location,

wherein said selecting a target sub-region from said plurality of sub-regions for parking said vehicle comprises:

determining, for each sub-region of the plurality of sub-regions, a cost value for the sub-region based on a first relative distance between the sub-region and each of the at least one obstacle and a second relative distance between the sub-region and the target dock location; and

selecting a target sub-region for parking the vehicle from the plurality of sub-regions based on the cost value of each sub-region of the plurality of sub-regions,

Wherein the determining the cost value of the sub-region includes:

the cost value of the sub-region is determined based on a weighted sum of the reciprocal of the first relative distance between the sub-region and each of the at least one obstacle and the second relative distance between the sub-region and the target dock location.

2. The method of claim 1, wherein the determining an obstacle in the area to dock comprises:

determining one or more alternative objects in the region to dock; and

for each of the one or more candidate objects, in response to determining that the candidate object is a static offender, determining the candidate object as an obstacle.

3. The method of claim 2, further comprising:

for each of the one or more alternative objects, in response to determining that the alternative object is a pedestrian or an idle vehicle, the alternative object is not determined to be an obstacle.

4. A method according to any one of claims 1 to 3, wherein the dividing the area of the vehicle to be parked into a plurality of sub-areas comprises:

and performing grid division on the to-be-docked region to obtain a plurality of sub-regions.

5. A vehicle parking apparatus comprising:

a dividing unit configured to divide a region to be parked of the vehicle into a plurality of sub-regions; and

a selection unit configured to select a target sub-area for parking the vehicle from the plurality of sub-areas based at least on a relative positional relationship between each of the plurality of sub-areas and the at least one obstacle and positional information of the sub-area in the region to be parked, wherein the region to be parked includes a target parking position, and wherein positional information of each of the plurality of sub-areas in the region to be parked includes a second relative distance between the sub-area and the target parking position,

wherein the selection unit includes:

a first determination subunit configured to determine, for each of the plurality of sub-regions, a cost value for the sub-region based on a first relative distance between the sub-region and each of the at least one obstacle, and a second relative distance between the sub-region and the target docking location; and

A selecting subunit configured to select a target sub-area for parking the vehicle from the plurality of sub-areas based on the cost value of each of the plurality of sub-areas, wherein the first determining subunit comprises:

a subunit for determining a cost value of the sub-region based on a weighted sum of a reciprocal of a first relative distance between the sub-region and each of the at least one obstacle and a second relative distance between the sub-region and the target dock location.

6. The apparatus of claim 5, wherein the selection unit further comprises a second determination subunit comprising:

a subunit for determining one or more candidate objects in the region to dock; and

a subunit for determining, for each of the one or more alternative objects, the alternative object as an obstacle in response to determining that the alternative object is a static offender.

7. The apparatus of claim 6, wherein the second determination subunit further comprises:

a subunit for, for each of the one or more alternative objects, not determining the alternative object as an obstacle in response to determining that the alternative object is a pedestrian or an idle vehicle.

8. The apparatus according to any one of claims 5 to 7, wherein the dividing unit comprises:

and the subunit is used for executing grid division on the to-be-docked area to obtain a plurality of sub-areas.

9. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-4.

11. A vehicle, comprising:

at least one processor; and