CN114333405A - Method for assisting the parking of a vehicle - Google Patents
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- CN114333405A CN114333405A CN202111649381.2A CN202111649381A CN114333405A CN 114333405 A CN114333405 A CN 114333405A CN 202111649381 A CN202111649381 A CN 202111649381A CN 114333405 A CN114333405 A CN 114333405A
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Abstract
The utility model provides a method for assisting vehicle parking, relates to data processing technology field, especially relates to car networking and intelligent passenger cabin technical field. The implementation scheme is as follows: responding to a parking instruction corresponding to the target parking space, and determining whether the target parking space is occupied; monitoring the state of the target parking space in response to determining that the target parking space is occupied; and controlling the autonomous vehicle to drive into the target parking space in response to the fact that the monitored state of the target parking space is changed from occupied to idle.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, in particular to the field of car networking and intelligent cabin technologies, and in particular to a method, an apparatus, an electronic device, a computer-readable storage medium, and a computer program product for assisting a vehicle to park.
Background
In the field of autonomous driving, more and more autonomous vehicles are being developed and put into use, and become powerful competitors in the fields of traffic logistics and the like. With the acceptance of convenience brought by the automatic driving vehicle by more and more people, how to provide the more convenient automatic driving vehicle on the premise of ensuring safety is a topic of constant attention of people.
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, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.
Disclosure of Invention
The present disclosure provides a method, an apparatus, an electronic device, a computer-readable storage medium, and a computer program product for assisting parking of a vehicle.
According to an aspect of the present disclosure, there is provided a method for assisting parking of a vehicle, including: responding to a parking instruction corresponding to a target parking space, and determining whether the target parking space is occupied; in response to determining that the target parking space is occupied, monitoring the state of the target parking space; and controlling the autonomous vehicle to drive into the target parking space in response to the fact that the monitored state of the target parking space is changed from occupied to idle.
According to another aspect of the present disclosure, there is provided an apparatus for assisting parking of a vehicle, including: a first determination unit configured to determine whether a target parking space is occupied in response to a parking instruction corresponding to the target parking space; the monitoring unit is configured to respond to the fact that the target parking space is occupied, and monitor the state of the target parking space; and the control unit is configured for responding to the monitored state of the target parking space changed from occupied state to idle state, and controlling the autonomous vehicle to drive into the target parking space.
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 a method for assisting in parking a vehicle as described in embodiments of the present disclosure.
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 a method for assisting parking of a vehicle as described in embodiments of the present disclosure.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the method for assisting parking of a vehicle as described in embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided an autonomous 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 a method for assisting in parking a vehicle as described in embodiments of the present disclosure.
According to one or more embodiments of the disclosure, when a target parking space to be pushed into by an autonomous vehicle is occupied, the target parking space is monitored by the autonomous vehicle, and when the state of the monitored target parking space is changed from occupied to idle, the autonomous vehicle is controlled to drive into the target parking space, so that the autonomous vehicle can stop to the target parking space by itself, a user does not need to manually monitor the target parking space and then drive into the target parking space, the operation of stopping to the target parking space by the user is reduced, and the time of stopping to the target parking space by the user is saved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers 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, according to an embodiment of the present disclosure;
FIG. 2 shows a flow chart of a method for assisting parking of a vehicle according to an embodiment of the present disclosure;
FIG. 3 illustrates a flow chart of a process for monitoring a status of a target slot in a method for assisting in parking a vehicle according to an embodiment of the present disclosure;
FIG. 4 illustrates a schematic structural diagram of an autonomous vehicle in a method for assisting parking of a vehicle according to an embodiment of the present disclosure;
FIG. 5 shows a flowchart of a process for detecting a target space at a first location to obtain a detection in a method for assisting parking of a vehicle according to an embodiment of the present disclosure;
fig. 6A and 6B illustrate scene diagrams implementing a method for assisting parking of a vehicle according to an embodiment of the present disclosure;
FIG. 7 is a flow chart illustrating a process of monitoring a status of a target space in a method for assisting a vehicle in parking according to an embodiment of the present disclosure;
fig. 8 is a block diagram illustrating a structure of an apparatus for assisting parking of a vehicle according to an embodiment of the present disclosure; and
FIG. 9 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 with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope 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, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.
The terminology used in the description of the various described 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, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.
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 embodiments 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 embodiments of the present disclosure, motor vehicle 110 may include a computing device and/or be configured to perform a method in accordance with embodiments of the present disclosure.
The server 120 may run one or more services or software applications that enable execution of the method for assisting parking of a vehicle. In some embodiments, the 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, which may be executed 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 take advantage of the services provided by these components. It should be understood 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 involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the 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. The 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, and the like.
In some embodiments, 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 variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, one or more networks 110 may be a satellite communication 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, e.g., bluetooth, WiFi), and/or any combination of these and 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 the 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 certain embodiments, the data store used by the server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.
In some embodiments, one or more of the 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 regular stores supported by a file system.
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.
Referring to fig. 2, a method 200 for assisting parking of a vehicle according to some embodiments of the present disclosure includes:
step S210: responding to a parking instruction corresponding to a target parking space, and determining whether the target parking space is occupied;
step S220: in response to determining that the target parking space is occupied, monitoring the state of the target parking space;
step S230: and controlling the autonomous vehicle to drive into the target parking space in response to the fact that the monitored state of the target parking space is changed from occupied to idle.
When the target parking space to be pushed into by the autonomous vehicle is occupied, the autonomous vehicle automatically monitors the target parking space, when the state of the monitored target parking space is changed from occupied to idle, the autonomous vehicle is controlled to drive into the target parking space, the autonomous vehicle can automatically stop to the target parking space, a user does not need to manually monitor the idle target parking space and then drive into the target parking space, the operation that the user parks the target parking space is reduced, and the time that the user parks the target parking space is saved.
In the related art, an autonomous vehicle based on autonomous driving must stop to a target slot corresponding to an instruction based on a human instruction. For example, the user instructs to point to target space a, and the autonomous vehicle currently located at point B travels from point B to target space a and stops. And when the target parking space A is occupied by the vehicle, the user must resend the user instruction pointing to another unoccupied free parking space C, so that the autonomous vehicle currently located at the point B drives to the free parking space C from the point B to stop. Therefore, for a target parking space A where a user wants to stop a vehicle to a position of the user, the user needs to monitor whether the user is idle or not by himself or a parking space manager monitors whether the user is idle or not and sends an idle message to the user; and after the target parking space A is idle, the user sends an instruction to instruct the autonomous vehicle to stop at the target parking space A. This process tends to be time consuming and labor intensive for the user.
According to the embodiment of the disclosure, after the user sends the instruction indicating that the autonomous vehicle stops at the target parking space A, the autonomous vehicle can automatically judge whether the target parking space A is occupied or not, when the autonomous vehicle is occupied, the target parking space A is automatically monitored, after the target parking space A is idle, the autonomous vehicle automatically drives into the target parking space A, and the autonomous vehicle can be stopped at the target parking space A which the autonomous vehicle is required to stop at only by sending the instruction indicating that the autonomous vehicle stops at the target parking space A in the whole process. The user operation is greatly reduced, and the energy consumption of the user is reduced.
It is to be understood that the method according to the present disclosure is applicable to various parking scenarios, and is particularly applicable to a scenario where there is no parking space temporarily when parking in a parking lot.
In some embodiments, the target slot may be a slot within a parking lot. In other embodiments, the target space may be a parking location of the target site. For example a garage located at home.
In some embodiments, determining whether the target slot is occupied is accomplished by a detection device disposed on the autonomous vehicle. For example, a picture of the target parking space is obtained by means of a camera device, and it is determined whether the target parking space is occupied on the basis of the picture analysis.
In some embodiments, determining whether the target slot is occupied is accomplished through a cloud server. For example, the cloud server receives information indicating whether the target parking space is occupied sent by the target parking space, and sends the information to the autonomous vehicle, so that the autonomous vehicle determines whether the target parking space is occupied based on the information.
In some embodiments, after determining that the target parking space is occupied, monitoring the state of the target parking space, as shown in fig. 3, the monitoring the state of the target parking space includes:
step S310: controlling the autonomous vehicle to stop at a first position, wherein the distance between the first position and the target parking space is smaller than a preset threshold value;
step S320: detecting the target parking space at the first position to obtain a detection result indicating whether the target parking space is idle or not; and
step S330: and monitoring the target parking space based on the detection result.
The autonomous vehicle is stopped at the first position close to the target parking space, and the target parking space is detected at the first position, so that a detection result indicating whether the target parking space is a space is obtained, and the target parking space is monitored.
The detection process is realized by adopting a sensing device arranged on the autonomous vehicle. Referring to fig. 4, the body 401 of the autonomous vehicle 400 is externally equipped with sensing devices that may include 2 bullet screen cameras 410a and 4 fisheye cameras 410b, 4 APA ultrasonic radar devices 420a and 8 UPA ultrasonic radar devices 420b, and so on. Therein, the monocular camera 410a and the fisheye camera 410b each have a corresponding detection range, as shown by the area defined by the dashed-line frame in fig. 4.
In some embodiments, detecting the target parking space at the first position is performed by acquiring an image captured by a camera and analyzing the image.
In some embodiments, as shown in fig. 5, detecting the target parking space at the first position to obtain the detection includes:
step S510: transmitting ultrasonic waves at the first position and receiving ultrasonic echoes; and
step S520: obtaining the detection result based on the received ultrasonic echo.
The ultrasonic waves are transmitted at the first position, and the ultrasonic echoes are received to obtain the detection result, and the ultrasonic radar is sensitive in sensing when the vehicle moves slowly and is static, so that the data processing amount in the process of obtaining the detection result is small, the efficiency is high, and the method for obtaining the detection result is simple.
In some embodiments, the preset threshold value ranges from 1m to 4 m.
And setting the first position within 4m of the target parking space, so that the detection result of the ultrasonic wave is accurate. Meanwhile, the first position is at least 1m away from the target parking space, so that the influence on the exit of the vehicle occupying the target parking space is avoided.
In some examples, the first location is set to within 3 meters of the target space in response to the ultrasonic radar detection range having the highest accuracy between 0.1 and 3 meters.
Referring to fig. 6A and 6B, scene diagrams implementing methods for assisting parking of a vehicle according to some embodiments of the present disclosure are illustrated. As shown in fig. 6A, when it is determined that target space 601 is currently occupied by vehicle 620, autonomous vehicle 610 stops at a first position located at a side of target space 601. As shown in fig. 6B, when the vehicle 620 exits the target space 601 to make the target space 601 free, the autonomous vehicle 610 monitors that the state of the target space 601 changes from occupied to free, and enters the target space 601.
In some embodiments, as shown in fig. 7, monitoring the state of the target parking space includes:
step S710: receiving a detection signal from a detection device located at the target parking space; and
step S720: and monitoring the target parking space based on the detection signal.
The detection signal comprises any one of a first signal and a second signal, the first signal indicates that the current state of the target parking space is occupied, and the second signal indicates that the current state of the target parking space is idle.
And for the target parking space with a longer distance, monitoring the target parking space is realized by receiving the detection signal sent by the target parking space.
For example, for a target parking space beyond 2km, the cloud server receives a detection signal sent by the communication module on the target parking space, and sends the detection signal to the autonomous vehicle, so that the autonomous vehicle monitors that the target parking space is changed from occupied to idle, and the autonomous vehicle is controlled to drive to the target parking space.
In some embodiments, the detection device of the target parking space may be a radar sensing device, for example.
In some embodiments, a wireless communication device is further disposed on the target parking space to transmit a detection signal of the detection device.
In some embodiments, the wireless communication module at the target parking space may communicate directly with the autonomous vehicle, sending the detection signal to the autonomous vehicle.
According to another aspect of the present disclosure, there is also provided an apparatus for assisting parking of a vehicle, referring to fig. 8, the apparatus 800 including: a first determination unit 810 configured to determine whether a target parking space is occupied in response to a parking instruction corresponding to the target parking space; a monitoring unit 820 configured to monitor a state of the target parking space in response to determining that the target parking space is occupied; and a control unit 830, configured to control the autonomous vehicle to drive into the target parking space in response to monitoring that the state of the target parking space is changed from occupied to idle.
In some embodiments, the monitoring unit 820 includes: a control subunit configured to control the autonomous vehicle to stop at a first position, a distance between the first position and the target parking space being less than a preset threshold; the detection unit is configured to detect the target parking space at the first position so as to obtain a detection result indicating whether the target parking space is free; and the monitoring subunit is configured to monitor the target parking space based on the detection result.
In some embodiments, the detection unit comprises: an ultrasonic wave transmitting and receiving unit configured to transmit an ultrasonic wave at the first position and receive an ultrasonic echo; and a detection result acquisition unit configured to obtain the detection result based on the received ultrasonic echo.
In some embodiments, the preset threshold value ranges from 1m to 4 m.
In some embodiments, the monitoring unit 820 includes: a receiving unit configured to receive a detection signal from a detection device located at the target parking space, where the detection signal includes any one of a first signal and a second signal, the first signal indicates that the current state of the target parking space is occupied, and the second signal indicates that the current state of the target parking space is idle; and an acquisition subunit configured to obtain the detection result based on the detection signal.
According to another aspect of the present disclosure, there is also 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 a method for assisting in parking a vehicle according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method for assisting parking of a vehicle according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements a method for assisting parking of a vehicle according to embodiments of the present disclosure.
According to another aspect of the present disclosure, there is also provided 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 a method for assisting in parking a vehicle according to an embodiment of the present disclosure.
In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.
Referring to fig. 9, a block diagram of a structure of an electronic device 900, which 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 device is 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 phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 909 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906, an output unit 907, a storage unit 908, and a communication unit 909. The input unit 906 may be any type of device capable of inputting information to the device 900, and the input unit 906 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote control. Output unit 907 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 908 may include, but is not limited to, a magnetic disk, an optical disk. Communication unit 909 allows device 900 to exchange information/data with other devices via 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 communicationTransceivers and/or chipsets, e.g. BluetoothTMDevices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and/or the like.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 901 performs the various methods and processes described above, such as the method 200. For example, in some embodiments, the method 200 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When loaded into RAM 903 and executed by computing unit 901, may perform one or more of the steps of method 200 described above. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the method 200 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 circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this 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. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally 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 with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described 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 as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in 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 with equivalent elements that appear after the present disclosure.
Claims (14)
1. A method for assisting parking of a vehicle, comprising:
responding to a parking instruction corresponding to a target parking space, and determining whether the target parking space is occupied;
in response to determining that the target parking space is occupied, monitoring the state of the target parking space; and
and controlling the autonomous vehicle to drive into the target parking space in response to the fact that the monitored state of the target parking space is changed from occupied to idle.
2. The method of claim 1, wherein the monitoring the status of the target space comprises:
controlling the autonomous vehicle to stop at a first position, wherein the distance between the first position and the target parking space is smaller than a preset threshold value;
detecting the target parking space at the first position to obtain a detection result indicating whether the target parking space is idle or not; and
and monitoring the target parking space based on the detection result.
3. The method of claim 2, wherein said detecting the target space at the first location to obtain the detection comprises:
transmitting ultrasonic waves at the first position and receiving ultrasonic echoes; and
obtaining the detection result based on the received ultrasonic echo.
4. The method of claim 3, wherein the preset threshold value ranges from 1m to 4 m.
5. The method of claim 1, wherein the monitoring the status of the target space comprises:
receiving a detection signal from a detection device located at the target parking space, wherein the detection signal comprises any one of a first signal and a second signal, the first signal indicates that the current state of the target parking space is occupied, and the second signal indicates that the current state of the target parking space is idle; and
and monitoring the target parking space based on the detection signal.
6. An apparatus for assisting parking of a vehicle, comprising:
a first determination unit configured to determine whether a target parking space is occupied in response to a parking instruction corresponding to the target parking space;
the monitoring unit is configured to respond to the fact that the target parking space is occupied, and monitor the state of the target parking space; and
and the control unit is configured for responding to the condition that the monitored target parking space is changed from occupied state to idle state, and controlling the autonomous vehicle to drive into the target parking space.
7. The apparatus of claim 6, wherein the monitoring unit comprises:
a control subunit configured to control the autonomous vehicle to stop at a first position, a distance between the first position and the target parking space being less than a preset threshold;
the detection unit is configured to detect the target parking space at the first position so as to obtain a detection result indicating whether the target parking space is free; and
and the monitoring subunit is configured to monitor the target parking space based on the detection result.
8. The apparatus of claim 7, wherein the detection unit comprises:
an ultrasonic wave transmitting and receiving unit configured to transmit an ultrasonic wave at the first position and receive an ultrasonic echo; and
a detection result acquisition unit configured to obtain the detection result based on the received ultrasonic echo.
9. The apparatus of claim 8, wherein the preset threshold value ranges from 1m to 4 m.
10. The apparatus of claim 6, wherein the monitoring unit comprises:
a receiving unit configured to receive a detection signal from a detection device located at the target parking space, where the detection signal includes any one of a first signal and a second signal, the first signal indicates that the current state of the target parking space is occupied, and the second signal indicates that the current state of the target parking space is idle; and
an obtaining subunit configured to obtain the detection result based on the detection signal.
11. An electronic device, comprising:
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 of any one of claims 1-5.
12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
13. A computer program product comprising a computer program, wherein the computer program realizes the method of any one of claims 1-5 when executed by a processor.
14. A vehicle, comprising:
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 of any one of claims 1-5.
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