CN114577229A

CN114577229A - Parking route filtering method and device, electronic equipment and storage medium

Info

Publication number: CN114577229A
Application number: CN202210107553.1A
Authority: CN
Inventors: 李明华; 关民杰
Original assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2022-06-03
Anticipated expiration: 2042-01-28
Also published as: CN114577229B

Abstract

The application discloses a parking route filtering method, a parking route filtering device, electronic equipment and a storage medium, wherein an original parking route is received, and the original parking route is generated when a shared vehicle parks in a parking lot; determining a first verification result according to the route information of the original parking route; the first verification result comprises an identification result of the first risk item; determining a second check result through quality inspection of the original parking route by quality inspectors; the second check result comprises a recognition result of the second risk item; the second risk item comprises the first risk item; determining a final checking result of the original parking route according to the first checking result and the second checking result; and taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route for parking planning of the target vehicle. Therefore, the risk items of the original parking route are identified by combining the route information and quality control, the original parking route with the risk items can be effectively filtered, and the filtering accuracy is improved.

Description

Parking route filtering method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of intelligent parking technologies, and in particular, to a parking route filtering method and apparatus, an electronic device, and a storage medium.

Background

When a vehicle parks in a parking lot, a parking route is generated by learning information such as the position and the path of the parking lot. The server can receive parking routes acquired and uploaded by different vehicles, and can provide the parking routes for vehicles which do not arrive at the parking lot so as to assist in positioning and planning of driving routes when the vehicles park.

However, various risk items may exist in the parking route, and if the parking route with the risk items is provided for the vehicle to perform positioning and driving route planning, problems such as failure in positioning the vehicle, collision in the driving process and the like may be caused, and great potential safety hazards exist.

Therefore, how to filter the parking routes with the risk items from a large number of parking routes to avoid using the parking routes with the risk items by the vehicle becomes a technical problem to be solved urgently by the technical personnel in the field.

Disclosure of Invention

In view of the above problems, the present invention provides a parking route filtering method, device, electronic device and storage medium to improve the above problems.

In a first aspect, an embodiment of the present application provides a parking route filtering method, where the method includes: receiving an original parking route, wherein the original parking route is generated when a shared vehicle parks in a parking lot; determining a first verification result according to the route information of the original parking route; the first verification result comprises an identification result of the first risk item; determining a second check result through quality inspection of the original parking route by quality inspectors; the second check result comprises a recognition result of the second risk item; the second risk item comprises the first risk item; determining a final checking result of the original parking route according to the first checking result and the second checking result; and taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route for parking planning of the target vehicle.

In a second aspect, an embodiment of the present application also provides a parking route filtering device, including: the system comprises a receiving module, a first checking module, a second checking module, a final checking module and a target route determining module. The receiving module is used for receiving an original parking route, and the original parking route is generated when the shared vehicle parks in the parking lot. The first checking module is used for determining a first checking result according to the route information of the original parking route; the first verification result includes an identification result of the first risk item. The second checking module is used for determining a second checking result through quality checking of a quality inspector on the original parking route; the second check result comprises a recognition result of the second risk item; the second risk item includes the first risk item. And the final checking module is used for determining a final checking result of the original parking route according to the first checking result and the second checking result. The target route determining module is used for taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route so that the target vehicle carries out parking planning according to the target parking route.

In a third aspect, an embodiment of the present application further provides an electronic device, including a processor and a memory; one or more application programs are stored in the memory and configured to be executed by the processor to implement the parking route filtering method described above.

In a fourth aspect, the present application further provides a computer readable storage medium, in which program codes are stored, where the parking route filtering method described above is executed when the program codes are executed by a processor.

According to the technical scheme provided by the invention, an original parking route is received, and the original parking route is generated when a shared vehicle parks in a parking lot; determining a first verification result according to the route information of the original parking route; the first verification result comprises an identification result of the first risk item; determining a second check result through quality inspection of the original parking route by quality inspectors; the second check result comprises a recognition result of the second risk item; the second risk item comprises the first risk item; determining a final checking result of the original parking route according to the first checking result and the second checking result; and taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route for parking planning of the target vehicle. Therefore, the risk items of the original parking route are identified by combining the route information and quality control, the original parking route with the risk items can be effectively filtered, and the filtering accuracy is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments, not all embodiments, of the present application. All other embodiments and drawings obtained by a person skilled in the art based on the embodiments of the present application without any inventive step are within the scope of the present invention.

Fig. 1 is a schematic diagram illustrating an application environment according to an embodiment of the present application.

Fig. 2 is a schematic flow chart illustrating a parking route filtering method according to an embodiment of the present application.

Fig. 3 shows a schematic diagram of an intersection according to an embodiment of the present application.

Fig. 4 shows a schematic diagram of another intersection proposed in the embodiment of the present application.

Fig. 5 shows a schematic diagram of a lane arrow proposed in the embodiment of the present application.

Fig. 6 shows a schematic diagram of another lane arrow proposed in the embodiment of the present application.

Fig. 7 is a schematic diagram illustrating a lane arrow according to another embodiment of the present invention.

Fig. 8 shows a schematic diagram of a lane arrow proposed in the embodiment of the present application.

Fig. 9 is a schematic diagram illustrating a route check chart according to an embodiment of the present application.

Fig. 10 is a block diagram showing a configuration of a parking route filtering apparatus according to an embodiment of the present application.

Fig. 11 shows a block diagram of an electronic device according to an embodiment of the present application.

Fig. 12 is a block diagram illustrating a structure of a computer-readable storage medium according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

Due to the influence of various complex factors, various risk items may exist in the parking route, such as reverse driving, intersection information loss and the like, and if the parking route with the risk items is provided for the vehicle to perform positioning and driving route planning, the problems of vehicle positioning failure, collision in the driving process and the like may be caused, and great potential safety hazards exist.

For this purpose, the parking routes need to be filtered in order to filter out parking routes that present risk items that affect parking safety. However, the number of parking routes is increasing day by day, and how to filter the parking routes with risk items from a large number of parking routes to avoid using the parking routes with risk items by a vehicle becomes a technical problem to be solved by those skilled in the art.

The following description is provided for an application environment of the parking route filtering method according to the embodiment of the present invention.

Referring to fig. 1, fig. 1 illustrates a parking route filtering system a according to an embodiment of the present application, where the parking route filtering system a includes: vehicle B and server C.

In an embodiment of the present application, the parking route filtering system a includes at least one vehicle B that can generate an original parking route when the vehicle B parks in the parking lot. The original parking route includes route information collected and recognized by the vehicle during parking, such as: location information of the vehicle, environmental elements of the parking lot.

In some embodiments, the vehicle is provided with a data acquisition device that can be used to acquire environmental elements of the parking lot. Alternatively, the data acquisition device includes, but is not limited to, an image acquisition device, a millimeter wave device, a laser radar, a GPS (Global Positioning System), an IMU (Inertial Measurement Unit), and the like. Environmental elements may include, but are not limited to, lane arrows, vehicle alignment lines, lane lines, speed bumps, parking lot intersections, parking lot pillars, road traffic signs and markings, distance of the vehicle from the vehicle alignment lines, and the like.

In some embodiments, the vehicle is provided with a position detection device, which may be used to obtain position information of the vehicle, such as information of a plurality of track points of the vehicle from a start point to an end point of parking, and the like. Alternatively, the location detection device, including but not limited to a GPS system, may be used to obtain location information of the vehicle; an IMU (Inertial Measurement Unit), which may be used to acquire pose information of a vehicle, etc.

In an embodiment of the application, the server C is connected to at least one vehicle B via a network D. The server C can acquire the original parking route transmitted by the vehicle B through the network D. It can be understood that, when the vehicle B parks in the parking lot, an original parking route of the parking lot can be generated and uploaded to the server C through the network D; different vehicles B park in the same parking lot, the server C can obtain a plurality of original parking routes of the same parking lot, original parking routes with risk items are filtered from the original parking routes through the parking route filtering method provided by the embodiment of the application, and target parking routes without the risk items are screened out for the parking planning of target vehicles parking in the same parking lot, so that the safety and the success rate of the target vehicle parking are ensured, and the specific method is specifically explained in the subsequent embodiment.

In the embodiment of the application, the vehicle B may obtain the target parking route from the server C through the network D, and when the vehicle B parks in the parking lot, parking may be assisted according to the target parking route.

Optionally, the network described above uses standard communication techniques and/or protocols. The Network is typically the Internet, but may be any Network including, but not limited to, a Local Area Network (LAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a mobile, wireline or wireless Network, a private Network, or any combination of virtual private networks. In some embodiments, data exchanged over a network is represented using techniques and/or formats including Hypertext Mark-up Language (HTML), Extensible Markup Language (XML), and the like. All or some of the links may also be encrypted using conventional encryption techniques such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Network (VPN), Internet Protocol Security (IPsec). In other embodiments, custom and/or dedicated data communication techniques may also be used in place of, or in addition to, the data communication techniques described above.

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

Referring to fig. 2, a parking route filtering method provided in an embodiment of the present application may be applied to a server in the parking route filtering system, where the embodiment describes a flow of steps at the server side, and the parking route recommending method in the embodiment of the present application may include: step S110 to step S150.

And step S110, receiving an original parking route.

In an embodiment of the application, the server may receive an original parking route sent by the shared vehicle. The sharing vehicle is a vehicle sending the original parking route. And the sharing vehicle generates a corresponding original parking route when parking in the parking lot and sends the original parking route to the server.

The original parking route comprises route information acquired and recognized by the vehicle in the parking process. For example: environmental elements of the parking lot, vehicle location information, etc.

Alternatively, the server may receive original parking routes corresponding to a plurality of different parking lots. Alternatively, the server may also receive at least one original parking route for the same parking lot.

In the embodiment of the application, the server may determine a first verification result according to the route information of the original parking route, determine a second verification result through quality inspection of the original parking route by a quality inspector, determine a final verification result of the original parking route according to the first verification result and the second verification result, and determine whether the original parking route meets a preset parking requirement according to the final verification result, which will be described in detail in the following embodiments.

In some embodiments, route information may include, but is not limited to: lane arrow information, information lane line information, parking lot intersection information, parking lot pillar information, sign information, and the like, which are used when a vehicle is parked in a parking lot to pass through a lane.

Alternatively, the detection image may be acquired by an image acquisition device of the vehicle, and the route information may be obtained by performing image recognition processing on the detection image.

Alternatively, the detection image may be identified by a pre-trained neural network model to obtain the route information.

In some embodiments, the route information may also include location information of the vehicle. For example, position location information for each track point of the vehicle from the start point to the end point of parking may be included.

It is understood that the route information may also be other relevant information during parking, such as parking time, vehicle altitude, vehicle speed, vehicle pose, distance of the vehicle from the parking space, and the like, which is not limited in this application.

And step S120, determining a first verification result according to the route information of the original parking route.

In an embodiment of the application, the server may check the original parking route according to route information of the original parking route to determine whether the first risk item exists in the original parking route. Wherein the first verification result comprises an identification result of the first risk item.

In some embodiments, the first risk item may be a privacy or sensitive risk item. The original parking route, which presents a privacy risk or a sensitive risk, is not suitable for being sent to other vehicles. Privacy zones include, but are not limited to, private residential areas, cell areas, and other areas where privacy privileges are set. The original parking route of the sensitive area is not suitable for recommendation to other vehicles. The sensitive areas include but are not limited to military administration areas, government office areas and other areas provided with sensitive authorities. The server may determine whether the parking lot is located in a privacy area or a sensitive area based on the location information of the original parking route.

If the parking lot where the original parking route is located is determined to be located in a private or sensitive area according to the position information of the original parking route, the first verification result of the original parking route can be a hidden or sensitive risk item.

In some embodiments, the first risk item may be an intersection information loss risk item. The intersection information may be road traffic conditions at different lane intersection locations. Intersection information is important information for vehicle driving planning, and if the intersection information is missing, the vehicle driving planning is influenced.

Specifically, it may be determined from the route information of the original parking route whether the intersection exists for the original parking route. Further, if an intersection exists, whether the intersection information is complete can be further determined.

Exemplarily, fig. 3 shows a schematic diagram of one of the intersections, and in fig. 3, the first road D1 and the second road D2 meet at the first intersection P1. If it is determined that the original parking route exists at the first intersection P1 through the route information of the original parking route, and the route information includes the intersection information of the first intersection P1, that is, the traffic conditions of the first intersection P1 in four directions, such as: the first intersection P1 is passable in the first direction a; the first intersection P1 is impassable in the second direction b; the first intersection P1 is not accessible in the third direction c, and the first intersection P1 is accessible in the fourth direction d. The first verification result of the original parking route can be determined as the absence of intersection information missing risk items.

Through the intersection information of the first intersection P1, when the vehicle drives to the first intersection P1, the passing situation of each direction can be determined through the complete intersection information of the first intersection P1, and then the parking planning is carried out according to the passing situation.

Exemplarily, fig. 4 shows a schematic diagram of another intersection, and in fig. 4, a third road D3, a fourth road D4, and a fifth road D5 meet at the second intersection P2. If the original parking route is determined to have the second intersection P2 through the route information of the original parking route, the route information includes the intersection information of the second intersection P2, but only includes the traffic conditions of three directions of the second intersection P2, such as: the second intersection P2 is passable in the first direction a; the second intersection P2 is accessible in a second direction b; the second intersection P2 is impassable in the third direction c. However, the intersection information of the second intersection P2 in the fourth direction d is missing, and the traffic situation of the second intersection P2 in the fourth direction d cannot be known. It can be determined that the first verification result of the original parking route is that there is an intersection information missing risk item.

Through the intersection information of the second intersection P2, when the vehicle drives to the second intersection P2, the passing condition in the fourth direction d cannot be known through the intersection information of the second intersection P2, and the normal parking plan of the vehicle is further influenced.

In some embodiments, the first risk item may be a retrograde risk item. If the parking track of the vehicle in the original parking route is opposite to the driving direction allowed by the lane, the original parking route has a reverse risk item. If the original parking route with the retrograde motion risk item is sent to other vehicles for parking planning, greater potential safety hazard exists.

In some embodiments, whether the back-driving risk item exists or not can be preliminarily filtered through the route information of the original parking route, and the specific steps are as follows.

(1) And determining a parking track and a lane arrow according to the route information of the original parking route.

In an embodiment of the present application, the server may determine the parking trajectory from the route information of the original parking route.

In some embodiments, the parking trajectory includes a plurality of trajectory point information from a start point to an end point when the vehicle is parked. The track point information may be, for example, coordinate information of the track point.

In some embodiments, the parking trajectory may also include a direction of travel of the vehicle. The traveling direction of the vehicle may be determined according to the start point and the end point. For example, the driving direction of the vehicle at the first track point may be a direction in which the first track point points to the next track point near the end point.

In an embodiment of the present application, the server may determine the lane arrows from route information of the original parking route. To ensure proper traffic, lanes typically distinguish the directions in which vehicles may travel, and to alert the user, lanes typically provide lane arrow patterns for indicating the directions in which the current lane may travel.

In an embodiment of the present application, the lane arrow includes an arrow pointing direction and an arrow position. The method comprises the steps of collecting pictures of lanes in the driving process of a vehicle, and further carrying out picture recognition on the collected pictures to determine whether lane arrows exist in the pictures and the directions of the lane arrows. Furthermore, the arrow position of the lane arrow can be determined through the position information of the vehicle and the position of the image acquisition device when the picture is acquired.

(2) And determining a lane arrow within a first distance threshold from the parking track as a first arrow according to the parking track and the lane arrow.

In order to determine whether the vehicle is traveling in the wrong direction, it is necessary to determine the direction of travel of the lane in which the vehicle is located. Lanes can be divided into single lanes (only one lane), dual lanes (two lanes in parallel), or even multiple lanes (multiple lanes in parallel). That is, the collected lane arrows may be more than the lane arrows of the lane in which the vehicle is located. Therefore, the vehicle arrow of the lane where the vehicle is located can be preliminarily screened out according to the distance between the lane arrow and the parking track.

In some embodiments, the distance of each lane arrow from the parking trajectory may be calculated separately, and the lane arrow in which the distance is less than the first distance threshold may be taken as the first arrow.

In some casesIn an embodiment, the distance between the lane arrow and the parking trajectory may be the shortest distance among the distances between the lane arrow and the trajectory point of the parking trajectory. For example, the first distance d between the lane arrow and the first track point₁The second distance between the lane arrow and the second track point is d₂If the first distance d₁Is less than the second distance d₂Then the second distance d may be set₂As the distance of the lane arrow from the parking trajectory.

In some embodiments, the distance between the lane arrow and the parking trajectory may be determined by coordinate information of the lane arrow and coordinate information of a trajectory point of the parking trajectory. For example, the coordinates of the lane arrow are (x)₁，y₁) The coordinate of the target track point (the track point closest to the arrow of the lane) is (x)₂，y₂) Distance between the lane arrow and the target track point

In some embodiments, the lane arrow is generally disposed at a center line of the lane, in which case the parking trajectory may be half the width of the lane, the farthest distance from the lane arrow. For this purpose, the first distance threshold may be set to half the lane width.

In some embodiments, the lane width may be determined based on route information of the original parking route, and the first distance threshold may be determined based on the lane width.

In some embodiments, the first distance threshold may be set at 0.8-1.2 meters. Preferably, the first distance threshold may be set to 0.9 meters.

In some embodiments, the parking trajectory is formed by connecting a plurality of trajectory points from the starting point to the end point in sequence, and if the vehicle has a turn near the end point, the trajectory near the end point may affect the judgment of the retrograde motion risk item. For this reason, in order to improve the accuracy of determining the retrograde motion risk term, in some embodiments, a portion of the parking trajectory near the end point may not be used as a reference for determining the retrograde motion risk term.

In some embodiments, the method of determining the first arrow may also include the following steps.

And (2.1) determining the avoiding track according to the preset number of track points which are sequentially connected with the track points corresponding to the end point.

And (2.2) determining an avoidance area according to the avoidance track.

And (2.3) determining a lane arrow which is within the first distance threshold from the parking track and is not in the avoidance area as a first arrow.

In the embodiment of the application, the preset number can be set to be 100-140. Preferably, the preset number may be set to 120, wherein the preset number is an integer. The preset number can be specifically set according to actual needs, and the application is not limited to this.

In some embodiments, the predetermined number may also be determined based on the total number of track points of the parking trajectory. For example, the predetermined number may be a predetermined proportion of the total number of trace points. Assuming that the parking trajectory includes 1000 trajectory points in total, and the preset ratio is 12%, the preset number is 120.

In an embodiment of the present application, the avoidance region may be a region within a preset distance range from the avoidance trajectory. The preset distance can be set to be 8-14 meters. Preferably, the preset distance may be set to 12 meters, and may be specifically set according to actual use needs, which is not limited in this application.

(3) And determining a first track included angle between the first arrow and the parking track.

(4) And if the first track included angle is smaller than or equal to a first preset retrograde motion angle, determining that no retrograde motion risk item exists in the original parking route.

In the embodiment of the application, the server may determine a first trajectory included angle between the first arrow and the parking trajectory according to the arrow direction of the first arrow and the driving direction of the parking trajectory, and determine whether a retrograde risk item exists in the original parking route through the first trajectory included angle.

In some embodiments, the first preset retrograde angle may be set to 80 to 100 degrees, and preferably, the first preset retrograde angle may be set to 90 degrees. It can be understood that the smaller the first preset retrograde angle is set, the greater the probability that the original parking route is identified to have the retrograde risk item is, the more the original parking routes are filtered, but the lower the probability that the remaining original parking routes have the retrograde risk item is, and a specific value of the first preset retrograde angle may be specifically set according to actual use needs, which is not limited in the present application.

Illustratively, taking the first preset backward movement angle as 90 degrees as an example, as shown in fig. 5, the distance between the first arrow J1 and the first trajectory point G1 (closest to the parking trajectory) in the first distance threshold range may determine the first trajectory angle α 1 according to the arrow direction of the first arrow J1 and the driving direction F1 of the parking trajectory. The first track included angle alpha 1 is smaller than 90 degrees, namely smaller than a first preset retrograde motion angle, so that the situation that no retrograde motion risk item exists in the original parking route can be determined.

For example, as shown in fig. 6, the distance between the first arrow J1 and the second track point G2 (closest to) in the parking track is within a first distance threshold range, and a first track included angle α 2 can be determined according to the arrow direction of the first arrow J1 and the driving direction F2 of the parking track, where the first track included angle is greater than 90 degrees, that is, greater than a first preset retrograde angle, so that it can be determined that the original parking route has a retrograde risk item.

In some embodiments, if the number of the first arrows is multiple, a first trajectory included angle between each first arrow and the parking trajectory is sequentially determined, and if the first trajectory included angles between all the first arrows and the parking trajectory are smaller than or equal to a first preset retrograde motion angle, it is determined that no retrograde motion risk item exists in the original parking route.

In order to prevent misjudgment of the reverse risk item of the original parking route, in the embodiment of the application, a first arrow of which the first track included angle is greater than a first preset reverse angle is further judged, so as to further determine whether the reverse risk item exists in the original parking route. The specific steps are as follows.

(1) And taking the lane arrow with the first track included angle larger than the first preset retrograde angle as a second arrow.

(2) And determining a lane arrow within a second distance threshold value from the parking track as a third arrow in lane arrows in the preset area of the second arrow.

(3) And determining a second track included angle between the third arrow and the parking track.

(4) And if at least one second track included angle is smaller than or equal to a second preset converse angle, determining that the original parking route has no converse risk item.

In the embodiment of the application, a lane arrow with the first track included angle larger than a first preset retrograde angle is used as a second arrow for further determining whether a retrograde risk item exists in the original parking route subsequently.

In the embodiment of the application, whether other lane arrows exist in the preset area of the second arrow is further determined, and if the lane arrow exists within the second distance threshold from the parking track, the lane arrow is used as a third arrow to be used for judging the subsequent back-driving risk item.

In some embodiments, the preset region may also be a region (which may be understood as a straight line with the center of the second arrow as a midpoint) which starts from the center of the second arrow, is in the same direction as or opposite to the second arrow, and is away from the center of the second arrow by a preset threshold.

In some embodiments, the preset region may be a circular region with a center of the second arrow as a center and a radius of the circular region as a preset threshold.

It is to be understood that the present application is not limited thereto, and the preset area may be set according to actual needs, for example, the preset area may also be set in other shapes such as a rectangle.

Optionally, the preset threshold value can be set to be 4-8 meters. Preferably, the preset threshold may be set to 6 meters.

Optionally, the second distance threshold may be set to 3-4 meters. Preferably, the second distance threshold may be set to 3.6 meters.

In the embodiment of the application, the server may determine a second trajectory included angle between the third arrow and the parking trajectory according to the arrow direction of the third arrow and the driving direction of the parking trajectory, and determine whether the original parking route has a reverse risk item or not according to the second trajectory included angle.

In some embodiments, the second preset retrograde angle may be set to 80 to 100 degrees, and preferably, the second trajectory angle may be set to 90 degrees. It can be understood that the smaller the second preset retrograde angle is set, the greater the probability that the original parking route is identified to have the retrograde risk item is, the more the original parking routes are filtered, but the lower the probability that the remaining original parking routes have the retrograde risk item is, and a specific value of the second preset retrograde angle may be specifically set according to actual use needs, which is not limited in the present application.

In some embodiments, the number of the third arrows is multiple, and the second trajectory angle between each third arrow and the parking trajectory is determined in turn.

If at least one third arrow and a second track included angle of the parking track are smaller than or equal to a second preset retrograde angle, it can be determined that the original parking route does not have a retrograde risk item.

And if the second track included angles of all the third arrows and the parking tracks are larger than a second preset retrograde angle, determining that a retrograde risk item exists in the original parking route.

For example, taking the second preset backward movement angle as 90 degrees as an example, as shown in fig. 7, an arrow J3 exists in the preset region K1 of the second arrow J2, but the distance between the arrow J3 and the parking track is greater than the second distance threshold, so the arrow J3 cannot be used as the third arrow.

For example, as shown in fig. 8, arrows J4, J5 and J6 exist in the preset region K2 of the second arrow J2, and the distances from the parking tracks to the arrows J4, J5 and J6 are all within the second distance threshold, so the arrows J4, J5 and J6 are all third arrows corresponding to the second arrow J2. Further, a second trajectory included angle between the arrow J4 and the parking trajectory is greater than a second preset retrograde angle, a second trajectory included angle between the arrow J5 and the parking trajectory is greater than the second preset retrograde angle, and a second trajectory included angle between the arrow J6 and the parking trajectory is smaller than the second preset retrograde angle. That is to say, if the second preset retrograde angle of the arrow J6 is smaller than the second preset retrograde angle in the third arrow corresponding to the second arrow J2, it may be determined that the original parking route does not have the retrograde risk item.

In some embodiments, if no lane arrow exists in the original parking route, the lane in the original parking route may be defined as a bidirectional traffic lane, that is, it may be determined that the original parking route does not have a reverse risk item.

In the embodiment of the application, whether the original parking route has the retrograde risk item is determined by combining the lane arrow and the parking track, and lane information such as lane lines and lane dividing information does not need to be combined, that is, the embodiment of the application can still accurately identify the retrograde risk item in the original parking route under the condition that the lane information is missing or has errors.

And step S130, determining a second check result through quality inspection of the original parking route by a quality inspector.

The server can eliminate the known risk items according to the route information of the original parking route, but because the original parking route may have various unknown quality problems, if the known risk items are filtered only according to the route information of the original parking route, the accuracy and the recall ratio of the original parking route filtering are difficult to meet the requirements of users.

For this reason, in the embodiment of the present application, the quality inspector further performs quality inspection on the original parking route to determine a second inspection result of the original parking route. Wherein the second check result comprises a recognition result of the second risk item, and the second risk item comprises the first risk item. That is, the second check result includes at least the recognition result of the first risk item.

In some embodiments, the second risk items may include privacy/sensitivity risk items, crossing absence risk items, and retrograde risk items.

In some embodiments, the second risk items may also include a track crossing parking space risk item, that is, a parking track crosses a parking space, that is, a vehicle does not normally run along a lane when running, but there is a dangerous driving behavior that directly crosses the parking space.

In some embodiments, the second risk items may also include overlapping risk items, i.e., there are instances where the same information appears repeatedly in the original parking route, such as lane line duplication, lane line overlapping, etc. The overlap risk items can also be classified into different levels according to the overlap condition, such as a first overlap risk item, a second overlap risk item, and the like, wherein the overlap condition of the first overlap risk item is more serious than the overlap condition of the second overlap risk item. It is to be understood that the present application is not so limited and in other embodiments, other different levels of risk items may be provided.

In some embodiments, the second risk item may also include the presence of a non-activatable path. That is, there is a part of the original parking route without any marking information, such as the car position line, intersection information, etc. The inactivatable path, because of the absence of the marker information, the vehicle cannot locate the current position based on the identified information. For example, the non-activatable route has no mark information from the starting point a to the end point B, that is, any point from the starting point a to the end point B, so that the vehicle cannot confirm the position of the vehicle on the route according to the mark information.

Further, the second check result may include a recognition result of more risk items to ensure sufficient risk item investigation of the original parking route.

In some embodiments, the method of determining the second check-up result at step S130 may include the following steps.

(1) And obtaining an initial inspection result of the original parking route through the initial inspection of the original parking route by a first quality inspector.

(2) Rechecking the primary result by a second quality inspector; and obtaining the rechecking result of the original parking route.

(3) And determining a second check result of the original parking route according to the rechecking result.

In the embodiment of the application, the quality inspection of the original parking route can be performed by a quality inspector. Furthermore, quality testing personnel can be further classified into different grades according to different grades so as to undertake corresponding quality testing tasks.

In the embodiment of the present application, the quality testing persons may be classified into a first quality testing person and a second quality testing person. And the grade of the second quality testing personnel is higher than that of the first quality testing personnel. It is understood that in other embodiments, quality testing personnel of different levels can be set according to actual needs, and the setting is not limited herein.

In some embodiments, the first quality inspector performs an initial inspection on the original parking route, and the second quality inspector performs a further re-inspection on the result after the initial inspection by the first quality inspector so as to ensure the accuracy of the quality inspection.

In some embodiments, there may be a plurality of first quality control persons, and the plurality of first quality control persons share the initial test tasks for a large number of original parking routes.

In some embodiments, there may be a plurality of second quality inspectors, and the plurality of second quality inspectors share the task of rechecking the initial inspection result.

In some embodiments, the number of first quality testing personnel is greater than the number of second quality testing personnel.

In some embodiments, the server may send a large number of original parking routes to the quality control device corresponding to the first quality control person. The quality inspection device may generate a route verification map based on the original parking route.

The route check graph is a two-dimensional check graph generated according to an original parking route. The route verification map is a visualization of the original parking route.

In some embodiments, as shown in fig. 9, the route check chart may reveal route information of the original parking route. As shown in fig. 9, the route verification diagram may reveal a parking trajectory E1 of the vehicle and environmental elements of the parking lot on the parking trajectory E1, such as a lane line E2, a lane arrow E3, a parking line E4, and the like, so as to visually show the parking trajectory and the environmental conditions of the parking lot.

In some embodiments, the route verification graph may also represent different route information in different colors. Thereby facilitating distinguishing between different route information on the route verification map.

In some embodiments, the route verification map may present one or more route information of the original parking route according to quality inspection requirements. For example, in order to reduce interference of other route information and improve quality inspection efficiency, a route verification map may be provided to display only route information necessary for quality inspection contents when performing quality inspection.

In some embodiments, the quality testing device may also display options for different second risk items for selection by quality testing personnel at the time of quality testing.

In some embodiments, the route check map is an overlay of a track map and a live-action map, the track map is generated according to the original parking route, and the live-action map is a parking lot picture corresponding to the original parking route.

In some embodiments, the quality inspection apparatus may further display a list of a plurality of original parking routes of the same parking lot, so that the quality inspector may select different original parking routes for quality inspection.

In the embodiment of the application, the quality inspection device can determine the initial inspection result of the original parking route in response to the verification operation of the quality inspector. The preliminary results may include the identification of the second risk item. The quality testing personnel can check out the second risk item existing on the original parking route. And then, the quality inspection equipment sends the initial inspection result to the server.

In the embodiment of the application, the server can send the initial inspection result to the quality inspection equipment corresponding to the second quality inspection personnel so as to provide the second quality inspection personnel for rechecking. Specifically, the second quality inspector rechecks whether the initial inspection result of the original parking route is correct or not and forms a rechecking result.

In some embodiments, the server may sample the original parking route subjected to the initial inspection, and the sampled original parking route is sent to a second quality inspector for rechecking, so as to improve quality inspection efficiency.

In some embodiments, the original parking routes after the initial inspection and the re-inspection can be provided with labels to distinguish the original parking routes and avoid repeated quality inspection or omission inspection.

And step S140, determining a final checking result of the original parking route according to the first checking result and the second checking result.

And S150, taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route for parking planning of the target vehicle.

In the embodiment of the application, after the route information is filtered and the quality inspection of quality inspectors is carried out, the final inspection result of the original parking route can be determined according to the first inspection result and the second inspection result, and then the original parking route without the preset parking risk item in the final inspection result is used as the target parking route. Therefore, parking routes with risk items are effectively filtered.

In some embodiments, the preset parking risk items may include, but are not limited to, a reverse risk item, an intersection information loss risk item, a track crossing parking space risk item, and the like, and may be specifically set according to actual needs, which is not limited in this application.

In some embodiments, if the quality inspector performs quality inspection on the risk items not found by the route information, the corresponding original parking route may be used as the reference data of the subsequent optimization filtering method. Such an original parking route may optionally be provided with corresponding tags for quick search.

In some embodiments, the server may store the filtered target parking route in a preset area, and may transmit the target parking route to the target vehicle according to a preset time interval.

In some embodiments, the preset time interval may be set according to actual needs, for example, the preset time interval may be set between 4 and 8 hours, and the shorter the preset time interval is set, the higher the frequency of sending the target parking route to the target vehicle is, i.e., the faster the update is.

In an embodiment of the present application, the parking route may be provided with a tag, for example, a first tag, which indicates whether parking passes the route information and determines a first verification result; the second label is used for representing whether the first quality inspector passes the initial inspection of the first quality inspector or not; the third label is used for representing whether the second quality testing personnel pass the rechecking; a fourth tag representing whether the target parking route is used; and a fifth tag for indicating whether the vehicle has been transmitted to the target vehicle. Therefore, the specific states of the parking routes can be quickly identified and screened, so that each step (first verification, initial inspection, re-inspection and sending) selects the corresponding parking route to be processed according to the label set by the parking route.

The embodiment of the application provides a parking route filtering method, which comprises the steps of receiving an original parking route, wherein the original parking route is generated when a shared vehicle parks in a parking lot; determining a first verification result according to the route information of the original parking route; the first verification result comprises an identification result of the first risk item; determining a second check result through quality inspection of the original parking route by quality inspectors; the second check result comprises a recognition result of the second risk item; the second risk item comprises the first risk item; determining a final checking result of the original parking route according to the first checking result and the second checking result; and taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route for parking planning of the target vehicle. Therefore, the risk items of the original parking route are identified by combining the route information and quality control, the original parking route with the risk items can be effectively filtered, and the filtering accuracy is improved.

Referring to fig. 10, a parking route filtering apparatus 200 according to an embodiment of the present invention is shown, where the apparatus 200 includes: a receiving module 210, a first checking module 220, a second checking module 230, a final checking module 240, and a target route determining module 250.

The receiving module 210 is configured to receive an original parking route, where the original parking route is generated when the shared vehicle parks in the parking lot.

The first checking module 220 is configured to determine a first checking result according to the route information of the original parking route; the first verification result includes an identification result of the first risk item.

The second checking module 230 is used for determining a second checking result through quality inspection of the original parking route by a quality inspector; the second check result comprises a recognition result of the second risk item; the second risk item includes the first risk item.

The final checking module 240 is configured to determine a final checking result of the original parking route according to the first checking result and the second checking result.

The target route determining module 250 is configured to use the original parking route, of which the final verification result meets the preset parking requirement, as the target parking route, so that the target vehicle performs parking planning according to the target parking route.

In some embodiments, the first risk item comprises a retrograde risk item. The first check module includes: the device comprises an information determining unit, a first arrow determining unit, a first track included angle determining unit and a first retrograde motion determining unit.

The information determining unit is used for determining a parking track and a lane arrow according to route information of an original parking route.

The first arrow determination unit is used for determining a lane arrow within a first distance threshold from the parking track as a first arrow according to the parking track and the lane arrow.

The first track included angle determining unit is used for determining a first track included angle between the first arrow and the parking track.

The first retrograde motion determining unit is used for determining that no retrograde motion risk item exists in the original parking route if the first track included angle is smaller than or equal to a first preset retrograde motion angle.

In some embodiments, the first verification module 220 further comprises: the device comprises a second arrow determining unit, a third arrow determining unit, a second track included angle determining unit and a second reverse determining unit.

The second arrow determining unit is used for taking the lane arrow with the first track included angle larger than the first preset retrograde angle as a second arrow.

The third arrow determination unit is used for determining a lane arrow which is within a second distance threshold value from the parking track in lane arrows in the preset area of the second arrow as a third arrow.

The second track included angle determining unit is used for determining a second track included angle between the third arrow and the parking track.

The second retrograde motion determining unit is used for determining that the original parking route has no retrograde motion risk item if at least one second track included angle is smaller than or equal to a second preset retrograde motion angle.

In some embodiments, the first verification module 220 further comprises: and a third reverse determining unit.

The third retrograde motion determining unit is used for determining that the original parking route has a retrograde motion risk item if all the second track included angles are larger than the second preset retrograde motion angle.

In some embodiments, the second verification module 230 comprises: the device comprises an initial detection unit, a re-detection unit and a second verification unit.

The initial inspection unit is used for obtaining an initial inspection result of the original parking route through initial inspection of the original parking route by a first quality inspector.

The rechecking unit is used for rechecking the primary result by a second quality inspector; and obtaining the rechecking result of the original parking route.

The second checking unit is used for determining a second checking result of the original parking route according to the rechecking result.

In some embodiments, the initial test unit includes an initial test sending subunit and an initial test result receiving subunit.

The initial check sending subunit is used for sending the original parking route to quality check equipment corresponding to a first quality check worker; so that the quality inspection equipment generates a route check chart according to the original parking route.

The primary test result receiving subunit is used for receiving the primary test result; the initial result is that the quality inspection equipment responds to the verification operation of the first quality inspection personnel on the route verification diagram and is determined according to the verification operation.

In some embodiments, the route check map is an overlay of a track map and a live-action map, the track map being generated according to an original parking route; the live-action map is a parking lot picture corresponding to the original parking route.

In some embodiments, the parking route filter 200 further includes a timing transmission module.

The timing sending module is used for sending the target parking route which is not sent to the target vehicle according to a preset time interval.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. For any processing manner described in the method embodiment, all the processing manners may be implemented by corresponding processing modules in the apparatus embodiment, and details in the apparatus embodiment are not described again.

Referring to fig. 11, based on the parking route filtering method, another electronic device 300 including a processor 310 that can execute the parking route filtering method according to the embodiment of the present application is further provided, where the electronic device 300 further includes one or more processors 310, a memory 320 and one or more application programs. The memory 320 stores programs that can execute the content of the foregoing embodiments, and the processor 310 can execute the programs stored in the memory 320.

Processor 310 may include, among other things, one or more cores for processing data and a message matrix unit. The processor 310 connects various parts throughout the electronic device 300 using various interfaces and lines, and performs various functions of the electronic device 300 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 320 and calling data stored in the memory 320. Alternatively, the processor 310 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 310 may integrate one or more of a Central Processing Unit (CPU) 310, a Graphics Processing Unit (GPU) 310, a modem, and the like. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 310, but may be implemented by a communication chip.

The Memory 320 may include a Random Access Memory (RAM) 320, and may also include a Read-Only Memory (Read-Only Memory) 320. The memory 320 may be used to store instructions, programs, code sets, or instruction sets. The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described below, and the like. The storage data area may also store data created by the terminal in use (such as an original parking route, route information, a first verification result, a second verification result, and the like).

Referring to fig. 12, a block diagram of a computer-readable storage medium 00 according to an embodiment of the present application is shown. The computer-readable storage medium 400 has stored therein a program code 410, which program code 10 can be called by a processor to execute the parking route filtering method described in the above-described method embodiment.

The computer-readable storage medium 400 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable and programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 00 includes a non-volatile computer-readable medium (non-transitory computer-readable storage medium). The computer-readable storage medium 400 has storage space for program code 10 for performing any of the method steps of the method described above. The program code 410 can be read from or written to one or more computer program products. Program code 410 may be compressed, for example, in a suitable form.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A parking route filtering method, characterized by comprising:

receiving an original parking route, wherein the original parking route is generated when a shared vehicle parks in a parking lot;

determining a first verification result according to the route information of the original parking route; the first verification result comprises an identification result of a first risk item;

determining a second check result through quality inspection of a quality inspector on the original parking route; the second check-up result comprises a recognition result of a second risk item; the second risk item comprises the first risk item;

determining a final checking result of the original parking route according to the first checking result and the second checking result;

and taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route for parking planning of the target vehicle.

2. The method of claim 1, wherein the first risk term comprises a retrograde risk term;

the determining a first verification result according to the route information of the original parking route includes:

determining a parking track and a lane arrow according to the route information of the original parking route;

according to the parking track and the lane arrow, determining the lane arrow which is within a first distance threshold from the parking track as a first arrow;

determining a first track included angle between the first arrow and the parking track;

and if the first track included angle is smaller than or equal to a first preset converse angle, determining that the converse risk item does not exist in the original parking route.

3. The method of claim 2, further comprising:

taking the lane arrow with the first track included angle larger than the first preset retrograde angle as a second arrow;

determining a lane arrow within a second distance threshold from the parking track as a third arrow in lane arrows within a preset area of the second arrow;

determining a second track included angle between the third arrow and the parking track;

and if at least one second track included angle is smaller than or equal to a second preset retrograde motion angle, determining that the original parking route does not have the retrograde motion risk item.

4. The method of claim 3, further comprising:

and if all the second track included angles are larger than the second preset retrograde motion angle, determining that the original parking route has the retrograde motion risk item.

5. The method of claim 2, wherein the parking trajectory is formed by a plurality of trajectory points connected in sequence from a starting point to an ending point;

determining a lane arrow which is within a first distance threshold from the parking track as a first arrow according to the parking track and the lane arrow; the method comprises the following steps:

determining an evaded track according to a preset number of track points which are sequentially connected with the track point corresponding to the end point;

determining an avoidance area according to the avoidance track;

determining a lane arrow that is within a first distance threshold from the parking trajectory and that is not in the avoidance area as a first arrow.

6. The method of claim 1, wherein the quality inspection of the original parking route by a quality inspector determines a second inspection result; the method comprises the following steps:

obtaining an initial inspection result of the original parking route through initial inspection of a first quality inspector on the original parking route;

rechecking the primary result by a second quality inspector; obtaining a rechecking result of the original parking route;

and determining a second check result of the original parking route according to the rechecking result.

7. The method of claim 6, wherein said obtaining an initial inspection result of the original parking route by an initial inspection of the original parking route by a first inspector comprises:

sending the original parking route to quality inspection equipment corresponding to the first quality inspector; so that the quality inspection equipment generates a route check chart according to the original parking route;

receiving an initial detection result; the initial result is determined by the quality inspection equipment according to the verification operation of the first quality inspection personnel on the route verification diagram.

8. The method of claim 6, wherein the route check map is an overlay of a track map and a live-action map, the track map being generated from the original parking route; and the live-action map is a parking lot picture corresponding to the original parking route.

9. The method according to any one of claims 1 to 8, further comprising:

and sending the target parking route which is not sent to the target vehicle according to a preset time interval.

10. The method according to any one of claims 1 to 8, wherein the step of using the original parking route, the final verification result of which meets a preset parking requirement, as the target parking route comprises the steps of:

and taking the original parking route without the preset parking risk item in the final verification result as a target parking route.

11. A parking route filter device, characterized by comprising:

the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving an original parking route, and the original parking route is generated when a shared vehicle parks in a parking lot;

the first checking module is used for determining a first checking result according to the route information of the original parking route; the first verification result comprises an identification result of a first risk item;

the second checking module is used for determining a second checking result through quality inspection of a quality inspector on the original parking route; the second check-up result comprises a recognition result of a second risk item; the second risk item comprises the first risk item;

the final checking module is used for determining a final checking result of the original parking route according to the first checking result and the second checking result;

and the target route determining module is used for taking the original parking route of which the final verification result meets the preset parking requirement as a target parking route so as to enable the target vehicle to carry out parking planning according to the target parking route.

12. An electronic device, comprising:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to perform the parking route filtering method of any of claims 1-10.

13. A computer-readable storage medium, wherein a program code is stored in the computer-readable storage medium, and the program code is called by a processor to execute the parking route filtering method according to any one of claims 1 to 10.