CN114613180A - Autonomous parking method, device, vehicle and parking lot end server - Google Patents

Autonomous parking method, device, vehicle and parking lot end server Download PDF

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Publication number
CN114613180A
CN114613180A CN202210162001.0A CN202210162001A CN114613180A CN 114613180 A CN114613180 A CN 114613180A CN 202210162001 A CN202210162001 A CN 202210162001A CN 114613180 A CN114613180 A CN 114613180A
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parking
autonomous
target
vehicle
strategy
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CN202210162001.0A
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Chinese (zh)
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谢兆夫
周泽斌
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Priority to CN202210162001.0A priority Critical patent/CN114613180A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/148—Management of a network of parking areas

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses an autonomous parking method, an autonomous parking device, a vehicle and a parking lot end server, relates to the field of automobiles, and aims to solve the problem that the efficiency of executing an autonomous parking task by the vehicle in the related technology is low, and the autonomous parking method comprises the following steps: receiving a first autonomous parking strategy sent by a parking lot end server; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot; and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory. The method and the device are used for autonomous parking.

Description

Autonomous parking method, device, vehicle and parking lot end server
Technical Field
The application relates to the field of automobiles, in particular to an autonomous parking method, equipment, a vehicle and a parking lot end server.
Background
The autonomous parking is also called as passenger parking, and means that a driver can call a vehicle on a parking space at a specified place or let the current vehicle park in the specified or random parking space, and the whole process is in a normal state without personnel operation and supervision, so that the vehicle can freely pass between an entrance and an exit of a parking lot and the parking space, and the process of the driver entering and exiting the parking lot is reduced.
In the related art, each vehicle needs a parking lot end server for path planning. Under the condition that the self computing capability of the vehicle is insufficient, the autonomous parking efficiency is low.
Disclosure of Invention
The embodiment of the application aims to provide an autonomous parking method, an autonomous parking device and a vehicle, so as to solve the problem that the efficiency of executing an autonomous parking task by the vehicle is low in the related art.
In a first aspect, an embodiment of the present application provides an autonomous parking method, which is applied to a target vehicle, and includes:
receiving a first autonomous parking strategy sent by a parking lot end server; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot;
and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory.
In a second aspect, an embodiment of the present application provides an autonomous parking method, which is applied to a parking lot end server, and includes:
in response to detecting a target vehicle, determining a planned parking trajectory of the target vehicle at a target parking lot;
determining a first autonomous parking strategy; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle which has completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot;
and sending a first autonomous parking strategy to the target vehicle, so that a first part of the target vehicle on the planned parking trajectory performs autonomous parking in the target parking lot according to the first autonomous parking strategy, wherein the first part is a part of the planned parking trajectory, which is overlapped with the parking trajectory of the specified vehicle.
In a third aspect, an embodiment of the present application provides an autonomous parking apparatus, including: the autonomous parking method includes a memory, a processor, and an autonomous parking program stored in the memory and executable on the processor, wherein the autonomous parking program implements the steps of the autonomous parking method according to the first aspect when executed by the processor.
In a fourth aspect, embodiments of the present application provide a vehicle that includes the autonomous parking device according to the third aspect.
In a fifth aspect, an embodiment of the present application provides a parking lot end server, including:
a memory, a processor and an autonomous parking program stored on the memory and executable on the processor, wherein the autonomous parking program, when executed by the processor, implements the steps of the autonomous parking method according to the second aspect.
The embodiment of the application can achieve the following beneficial effects:
in the embodiment of the application, a first autonomous parking strategy sent by a parking lot end server is received; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot; and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory. The first autonomous parking strategy sent by the parking lot end server is received to control the first part of the target vehicle on the planned parking track to conduct autonomous parking in the target parking lot according to the first autonomous parking strategy, so that the parking strategy data of the specified vehicle which finishes the parking task can be effectively reused for the first part on the planned parking track, the real-time calculation amount of the target vehicle on the autonomous parking strategy is reduced, and the efficiency of the target vehicle in executing the autonomous parking task is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of an autonomous parking method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of another autonomous parking method provided by the embodiment of the application;
FIG. 3 is a schematic flow chart of another autonomous parking method provided by the embodiment of the application;
FIG. 4 is a schematic flow chart diagram of another autonomous parking method provided by the embodiment of the application;
FIG. 5 is a schematic flow chart of another autonomous parking method provided by the embodiment of the application;
fig. 6 is a schematic structural block diagram of an autonomous parking apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural block diagram of an autonomous parking apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural block diagram of a parking lot end server according to an embodiment of the present disclosure;
fig. 9 is a schematic structural block diagram of a parking lot end server according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The features of the terms first and second in the description and in the claims of the present application may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
In order to solve the problem that the efficiency of executing an autonomous parking task by a vehicle is low in the related art, the autonomous parking method, the autonomous parking device, the vehicle and the parking lot end server are provided.
The technical solutions provided by the embodiments of the present application are specifically described below with reference to fig. 1 to 9. The technical scheme provided by the embodiment of the application can be applied to the environment of automatic driving.
Fig. 1 is a schematic flowchart of an autonomous parking method according to an embodiment of the present disclosure. As shown in fig. 1, an autonomous parking method provided in an embodiment of the present application, applied to a target vehicle, may include:
step 110: receiving a first autonomous parking strategy sent by a parking lot end server; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot;
step 120: and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory.
The parking lot end server may first discover the target vehicle prior to step 110. In the embodiment of the present application, the parking lot end server may find the target vehicle in various ways.
For example, one specific embodiment may be that, in response to a user initiating an operation of the autonomous parking function, the target vehicle sends an autonomous parking request to a parking lot end server of the target parking lot; in response to the autonomous parking request, the parking lot end server sends a first autonomous parking strategy to the target vehicle. The autonomous parking request is used for requesting the parking lot end server to send a first autonomous parking strategy to the target vehicle. In the embodiment of the present application, the target vehicle is installed with an autonomous parking program, and the autonomous parking function of the target vehicle may be started through control manners such as an infrared remote control button and a voice control.
For another example, another specific embodiment may be that, in response to the park end server detecting the target vehicle, the park end server sends the first autonomous parking maneuver directly to the target vehicle.
In step 110, it can be understood that a designated parking strategy for a designated vehicle that has completed a parking task at the target parking lot may be stored in the parking lot end server. If the parking track of the specified vehicle in the target parking lot is at least partially overlapped with the planned parking track of the target vehicle in the target parking lot, the parking lot end server does not need to calculate the target parking strategy of the target vehicle in real time aiming at the overlapped part of the tracks, can directly multiplex the parking strategy data of the specified vehicle which finishes the parking task in the target parking lot, and directly sends the specified parking strategy of the specified vehicle to the target vehicle, so that the time for the parking lot end server to calculate the target parking strategy of the target vehicle in real time is saved. In this way, the target vehicle can quickly acquire the first autonomous parking strategy transmitted by the parking lot end server.
Wherein the parking trajectory of the designated vehicle at the target parking lot is included in the first autonomous parking strategy. The planned parking track of the target vehicle in the target parking lot is a parking track which is planned in advance by the parking lot end server according to the position of the target vehicle and the parking lot map before the target vehicle performs autonomous parking, wherein the parking lot end server stores the parking lot map in advance.
In step 120, since the parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot, a first portion of the target vehicle on the planned parking trajectory may be controlled to perform autonomous parking in the target parking lot according to the first autonomous parking strategy, where the first portion is a portion of the planned parking trajectory that coincides with the parking trajectory of the designated vehicle.
It can be understood that if the target vehicle can obtain the specified parking strategy from the parking lot end server, the target vehicle can directly use the specified parking strategy transmitted by the parking lot end server to conduct autonomous parking, so that the real-time calculation amount of the server of the target vehicle to the target parking strategy is reduced, and the efficiency of executing the autonomous parking task is greatly improved.
The autonomous parking method provided by the embodiment of the application receives a first autonomous parking strategy sent by a parking lot end server; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot; and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory. In this way, the first autonomous parking strategy sent by the parking lot end server is received to control the first part of the target vehicle on the planned parking track to perform autonomous parking in the target parking lot according to the first autonomous parking strategy, so that the parking strategy data of the specified vehicle which has completed the parking task is effectively reused for the first part of the planned parking track, the real-time calculation amount of the target vehicle on the autonomous parking strategy is reduced, and the efficiency of the target vehicle executing the autonomous parking task is improved.
In addition, in a specific embodiment, the first autonomous parking strategy includes a first parking trajectory and control instruction information corresponding to the first parking trajectory, the first parking trajectory is a parking trajectory of a specified vehicle in the target parking lot, the first parking trajectory includes at least one planned position on the first portion, and the control instruction information includes at least one of acceleration information, steering wheel angle information, and time information corresponding to the planned position.
For example, a first parking trajectory in a first autonomous parking strategy may be characterized as path coordinate information, and control command information corresponding to the first parking trajectory may be characterized as control sequence information, which is stored in a queue on a local storage device of a designated vehicle and may be uploaded to a parking lot end server.
For example, the route and control sequence for the designated vehicle a is represented as Node a { Xa[i]，Ya[i]，aa[i]，θa[i]，ta[i]}; taking 1, …, n as i; n is a positive integer.
Wherein, Xa[i]Indicating the abscissa, Y, of the designated vehicle a at the ith planned positiona[i]And a vertical coordinate of the designated vehicle a at the ith planning position is represented, and is used for representing each planning position of the designated vehicle a on the parking track of the target parking lot.
Wherein, aa[i]And indicating the acceleration magnitude of the designated vehicle a corresponding to the ith planning position, and being used for realizing the acceleration operation and the deceleration operation in the autonomous parking process.
Wherein, thetaa[i]And the steering wheel corner of the designated vehicle a corresponding to the ith planning position is shown, and the steering wheel corner and the vehicle steering angle have one-to-one correspondence relationship and are used for realizing the vehicle steering operation in the autonomous parking process.
Wherein, ta[i]Indicating that the designated vehicle a corresponds to the ith vehicleTime at the planned location.
Wherein the time t at the (i + 1) th planned position is determineda[i+1]With time t at the ith planned positiona[i]And recording the difference as a target time length, and carrying out autonomous parking on the designated vehicle a within the target time length according to the control instruction information corresponding to the ith planning position.
Where i may be a positive integer, i takes 1, …, n, and represents a serial number that specifies n planned positions marked on the first parking trajectory by the vehicle a.
E.g. ta[1]Indicating the time, t, of the first planned position of the designated vehicle a on the first parking trajectorya[2]Indicating the time of the second planned position of the designated vehicle a on the first parking track, if the time t corresponding to the first planned positiona[1]0, time t corresponding to the second planned positiona[2]A time of 1 second may indicate that it takes 1 second for the designated vehicle a to travel from the first planned location to the second planned location according to the first parking trajectory.
In addition, in general, the designated vehicle may follow the first parking trajectory from the first planned position on the first parking trajectory through the second planned position, the third planned position, … … in sequence to the nth planned position to complete the autonomous parking task of the designated vehicle. The first planned position may be a start position of the first parking trajectory, and the nth planned position may be an end position of the first parking trajectory. For example, the position information of the first planned position may be set as the origin (0, 0), the velocity of the first planned position is 0, and the time of the first planned position is 0. If the path and control sequence of the vehicle a is specified, the path and control sequence Node a { X of the first planned positiona[1]，Ya[1]，aa[1]，θa[1]，ta[1 ] is expressed as {0, 0, 2, 0, 0}, namely the acceleration of the specified vehicle a at the first planned position (0, 0) is 2 meters per square second, and the steering wheel angle is 0, so that the specified vehicle a directly starts to run at the first planned position with the acceleration of 2 meters per square second.
It can be appreciated that since the first parking trajectory includes a first portion on the planned parking trajectory, the first parking trajectory includes at least one planned position on the first portion, the control instruction information includes at least one of acceleration information, steering wheel angle information, and time information corresponding to the planned position.
Correspondingly, in step 120, in a first part of the planned parking trajectory, controlling the target vehicle to autonomously park in the target parking lot according to the first autonomous parking strategy includes:
and controlling the target vehicle to autonomously park according to at least one of acceleration information, steering wheel angle information and time information corresponding to the target planning position aiming at any one of the at least one planning position.
In this way, at a part of the planned parking trajectory which coincides with the first parking trajectory of the designated vehicle, the target vehicle can be accurately controlled to autonomously park at each planned position according to the acceleration information, the steering wheel angle information, and the time information corresponding to the planned position.
In an embodiment of the present application, for a portion of a planned parking trajectory of a target vehicle that overlaps a parking trajectory of a specified vehicle in a target parking lot, if an obstacle that is not marked with the parking lot map information exists in the overlapping portion, the first autonomous parking policy is no longer applicable in a portion where the obstacle that is not marked with the parking lot map information exists in the overlapping portion. For example, if it is insisted on controlling the target vehicle to park according to the first autonomous parking strategy, the target vehicle may collide with an obstacle not marked by the parking lot map information, and the first autonomous parking strategy is no longer applicable.
Based on this, in the process of controlling the target vehicle to autonomously park in the target parking lot according to the first autonomous parking strategy in the first section, the autonomous parking method provided in the embodiment of the present application further includes:
step 210: detecting whether an unmarked obstacle on a parking lot map exists on a first part of the planned parking trajectory or not in the process of controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy;
step 220: determining a second autonomous parking strategy in the presence of an unmarked obstacle on a parking lot map, the second autonomous parking strategy comprising a second parking trajectory indicating a trajectory back onto the first parking trajectory after bypassing the obstacle;
step 230: switching the parking strategy of the target vehicle from the first autonomous parking strategy to a second autonomous parking strategy;
step 240: and after the target vehicle leaves the first parking track and before the target vehicle returns to the first parking track again, controlling the target vehicle to conduct autonomous parking in the target parking lot according to the second autonomous parking strategy.
In step 210, in order to further improve the safety of the target vehicle performing autonomous parking in the target parking lot according to the first autonomous parking strategy in the first portion, whether an obstacle whose parking lot map information is not marked exists in the first portion of the planned parking trajectory of the target vehicle is detected by an on-board sensor of the target vehicle, and if so, the first autonomous parking strategy is no longer applicable to the target vehicle. In this case, the target vehicle needs to make a new decision again to make a new autonomous parking strategy.
In step 220, a second autonomous parking strategy is determined in the presence of an unmarked obstacle on the parking lot map. The process of determining the second autonomous parking maneuver may be:
acquiring a parking lot map and vehicle-mounted sensor information, wherein the parking lot map comprises travelable area information of a target parking lot, contour information of an obstacle and position information, and the vehicle-mounted sensor information comprises travelable area information acquired by a vehicle-mounted sensor, contour information of the obstacle and position information;
and determining a second autonomous parking strategy according to the parking lot map and the vehicle-mounted sensor information.
Wherein, the parking lot map can be stored in the parking lot end server in advance. The obtaining of the parking lot map information from the parking lot end server may include obtaining the parking lot map information directly issued by the parking lot end server, or may also include sending a resource obtaining request to the parking lot end server to obtain the parking lot map information.
The target vehicle can carry various sensors, and the acquisition of the vehicle-mounted sensor information can comprise the real-time acquisition of the vehicle-mounted sensor information through the vehicle-mounted sensor.
The embodiment of the application does not limit the specific acquisition mode for acquiring the parking lot map information and the vehicle-mounted sensor information, and the specific acquisition mode does not influence the implementation of the scheme.
In step 230-; and after the target vehicle leaves the first parking track and before the target vehicle returns to the first parking track again, controlling the target vehicle to conduct autonomous parking in the target parking lot on a second parking track according to the second autonomous parking strategy.
According to the autonomous parking method provided by the embodiment of the application, a second autonomous parking strategy can be determined according to the parking lot map information and the vehicle-mounted sensor information at the part where the parking track of the specified vehicle is overlapped with the planned parking track of the target vehicle and the obstacle which is not marked by the parking lot map information exists; and controlling the target vehicle to perform autonomous parking on the second parking track according to a second autonomous parking strategy. Thus, the safety of autonomous parking of the target vehicle is further improved on the basis of effectively multiplexing the parking strategy data of the designated vehicle which has completed the parking task.
In addition, in the embodiment of the present application, the autonomous parking strategy of the vehicle includes a parking trajectory of the vehicle in the target parking lot, where a starting point of the parking trajectory of the vehicle in the target parking lot may generally be an entrance of the target parking lot, and an ending point of the parking trajectory of the vehicle in the target parking lot may be any parking space of the target parking lot. In practical applications, the target parking space of the target vehicle in the target parking lot may be determined by the selection information input by the user, or may be randomly assigned by the parking lot end server of the target parking lot, or may be determined in other manners. In this way, if the parking spaces of the target vehicle and the designated vehicle are the same, the parking track of the designated vehicle in the target parking lot may completely coincide with the planned parking track of the target vehicle in the target parking lot; if the parking spaces of the target vehicle and the designated vehicle are different, the parking track of the designated vehicle in the target parking lot can be partially overlapped with the planned parking track of the target vehicle in the target parking lot.
Depending on how much the target vehicle coincides with the parking trajectory of the designated vehicle, the first autonomous parking strategy may not be applicable to the target vehicle in some particular portions of the planned parking trajectory of the target vehicle (e.g., portions of the planned parking trajectory of the target vehicle that do not coincide with the parking trajectory of the designated vehicle). In this case, the target vehicle may determine a new third autonomous parking policy in real time according to the parking lot map information and the vehicle-mounted sensor information, switch the first autonomous parking policy to the third autonomous parking policy, and control the target vehicle to travel in the target parking lot according to the third autonomous parking policy. The following is a detailed description.
Fig. 3 is a schematic flowchart of another autonomous parking method according to an embodiment of the present application.
As shown in fig. 3, the autonomous parking method provided by the embodiment of the present application may further include:
step 310: determining a third autonomous parking strategy applicable to a second portion of the planned parking trajectory, wherein the second portion is a portion of the planned parking trajectory other than the first portion;
step 320: and in a second part on the planned parking trajectory, controlling the target vehicle to perform autonomous parking in the target parking lot according to the third autonomous parking strategy.
In step 310, the process of determining the third autonomous parking maneuver may be:
acquiring a parking lot map and vehicle-mounted sensor information, wherein the parking lot map comprises travelable area information of a target parking lot, contour information of an obstacle and position information, and the vehicle-mounted sensor information comprises travelable area information acquired by a vehicle-mounted sensor, contour information of the obstacle and position information;
and determining a third autonomous parking strategy according to the parking lot map information and the vehicle-mounted sensor information.
Wherein, the parking lot map can be stored in the parking lot end server in advance. The obtaining of the parking lot map from the parking lot end server may include obtaining the parking lot map directly issued by the parking lot end server, or may also include sending a resource obtaining request to the parking lot end server to obtain the parking lot map.
The target vehicle can carry various sensors, and the acquisition of the vehicle-mounted sensor information can comprise the real-time acquisition of the vehicle-mounted sensor information through the vehicle-mounted sensor.
The embodiment of the application does not limit the specific acquisition mode for acquiring the parking lot map information and the vehicle-mounted sensor information, and the specific acquisition mode does not influence the implementation of the scheme.
In step 320, the parking strategy of the target vehicle may be switched from the first autonomous parking strategy to a third autonomous parking strategy, and the target vehicle may be controlled to perform autonomous parking in the target parking lot according to the third autonomous parking strategy in a second portion, where the second portion is a portion of the planned parking trajectory of the target vehicle, which is outside a portion of the planned parking trajectory of the target vehicle, where the portion coincides with the parking trajectory of the designated vehicle in the target parking lot.
According to the autonomous parking method provided by the embodiment of the application, a target vehicle carries out comprehensive decision according to a first autonomous parking strategy, parking lot map information and real-time information detected by a vehicle-mounted sensor, wherein the first autonomous parking strategy is transmitted by a parking lot end server: for a part of the planned parking trajectory of the target vehicle, which is overlapped with the parking trajectory of the specified vehicle in the target parking lot, the target vehicle can be controlled to perform autonomous parking in the target parking lot according to a first autonomous parking strategy; and determining a third autonomous parking strategy for the part, which is not the overlapped part of the planned parking track of the target vehicle and the parking track of the specified vehicle in the target parking lot, of the parking track, according to the parking lot map information and the vehicle-mounted sensor information, and controlling the target vehicle to park autonomously in the target parking lot according to the third autonomous parking strategy. Therefore, the parking strategy data of the specified vehicle which finishes the parking task are effectively reused, the real-time calculation amount of the target vehicle about the target parking strategy is reduced, the generated parking strategy data are reused, and the efficiency of executing the autonomous parking task by the target vehicle is improved.
On the other hand, fig. 4 is a schematic flowchart of an autonomous parking method according to an embodiment of the present application. As shown in fig. 4, an autonomous parking method provided in an embodiment of the present application is applied to a parking lot end server, and may include:
step 410: in response to detecting a target vehicle, determining a planned parking trajectory of the target vehicle at a target parking lot;
step 420: determining a first autonomous parking strategy; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle which has completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot;
step 430: and sending a first autonomous parking strategy to the target vehicle, so that a first part of the target vehicle on the planned parking trajectory performs autonomous parking in the target parking lot according to the first autonomous parking strategy, wherein the first part is a part of the planned parking trajectory, which is overlapped with the parking trajectory of the specified vehicle.
There may be different implementations of the park end server detecting the target vehicle prior to step 410. For example, the target vehicle sends an autonomous parking request to a parking lot end server of the target parking lot, and if the parking lot end server receives the autonomous parking request sent by the target vehicle, it is determined that the target vehicle is detected. For another example, the parking lot end server actively detects whether a target vehicle is present at an entrance of a target parking lot through a monitoring device installed in the parking lot. Of course, other embodiments are possible, and the present application is not limited thereto.
In step 410, in response to detecting the target vehicle, a planned parking trajectory of the target vehicle in the target parking lot is determined according to the position information of the target vehicle and a pre-stored parking lot map. The planned parking trajectory of the target vehicle may include a planned parking trajectory of the target vehicle in the target parking lot, where a starting point of the planned parking trajectory of the target vehicle in the target parking lot may be an entrance of the target parking lot, and an ending point of the planned parking trajectory of the target vehicle in the target parking lot is a target parking space of the target vehicle in the target parking lot. The target parking space of the target vehicle in the target parking lot can be determined by selection information input by a user, or can be randomly distributed by a parking lot end server of the target parking lot, or can be determined in other ways.
In step 420, the parking lot end server stores in advance an autonomous parking policy of the designated vehicle that has completed the parking task at the target parking lot. If the parking track of the specified vehicle in the target parking lot is at least partially overlapped with the planned parking track of the target vehicle in the target parking lot, the parking lot end server does not need to calculate the parking strategy of the target vehicle in real time, and can directly determine the first autonomous parking strategy according to the specified parking strategy of the specified vehicle which finishes the parking task in the target parking lot.
In step 430, in a case that the planned parking trajectory of the target vehicle at least partially coincides with the parking trajectory of the designated vehicle at the target parking lot, a first autonomous parking strategy may be sent to the target vehicle in response to the planned parking trajectory of the target vehicle at least partially coinciding with the parking trajectory of the designated vehicle at the target parking lot, so that the target vehicle autonomously parks in the target parking lot according to the first autonomous parking strategy in a first portion of the planned parking trajectory, where the first portion is a portion of the planned parking trajectory that coincides with the parking trajectory of the designated vehicle.
According to the autonomous parking method provided by the embodiment of the application, a planned parking track of a target vehicle in a target parking lot is determined in response to the detection of the target vehicle; determining a first autonomous parking strategy; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle which has completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot; and sending a first autonomous parking strategy to the target vehicle, so that the target vehicle performs autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part of the planned parking trajectory, wherein the first part is a part of the planned parking trajectory, which is overlapped with the parking trajectory of the specified vehicle. In this way, the parking lot end server sends the first autonomous parking strategy of the specified vehicle which has completed the parking task to the target vehicle, so that the target vehicle carries out autonomous parking in the target parking lot according to the first autonomous parking strategy in the first part of the planned parking track, the parking strategy data of the specified vehicle which has completed the parking task are effectively reused, the real-time calculation amount of the target vehicle about the target parking strategy is reduced, the reuse of the generated parking strategy data is realized, and the efficiency of executing the autonomous parking task by the target vehicle is improved.
Fig. 5 is a schematic flowchart of an autonomous parking method according to an embodiment of the present application.
As shown in fig. 5, in a specific embodiment, the autonomous parking method provided in this embodiment is applied to a parking lot end server, and may further include:
step 510: receiving an autonomous parking strategy transmitted by at least one specific vehicle which completes a parking task in the target parking lot, wherein the autonomous parking strategy comprises a parking track of the specific vehicle and control instruction information corresponding to the parking track;
step 520: storing an autonomous parking strategy corresponding to the at least one specific vehicle;
step 530: and determining the specified parking strategy matched with the target vehicle from the stored autonomous parking strategies to serve as a first autonomous parking strategy.
Step 530 described above may be a sub-step of step 420.
In a specific embodiment, the step 530 may specifically include:
matching the planned parking track of the target vehicle in the target parking lot with the parking track of at least one specific vehicle in the target parking lot; the specific vehicle is any vehicle which finishes a parking task in a target parking lot;
and if the planned parking track of the target vehicle in the target parking lot is at least partially overlapped with the parking track of at least one specific vehicle in the target parking lot, taking the autonomous parking strategy corresponding to the specific vehicle with the overlapped track as a first autonomous parking strategy.
If the parking track of a specific vehicle in the target parking lot is at least partially overlapped with the planned parking track of the target vehicle in the target parking lot, the autonomous parking strategy corresponding to the specific vehicle with the overlapped track can be directly used as a first autonomous parking strategy;
if the parking tracks of a plurality of specific vehicles in the target parking lot are at least partially overlapped with the planned parking tracks of the target vehicles in the target parking lot, then: for a plurality of specific vehicles of which the parking tracks are at least partially overlapped with the planned parking tracks of the target vehicles in the target parking lot, judging the overlapping degree of the parking tracks of the specific vehicles in the target parking lot and the planned parking tracks of the target vehicles in the target parking lot; and selecting the autonomous parking strategy corresponding to the specific vehicle with the highest coincidence degree as a first autonomous parking strategy.
It can be understood that the parking lot end server stores therein in advance an autonomous parking strategy of a specific vehicle that completes an autonomous parking task at a target parking lot. If the parking track of any one of the specific vehicles in the target parking lot is at least partially overlapped with the planned parking track of the target vehicle in the target parking lot, the parking lot end server does not need to calculate the parking strategy of the target vehicle in real time, can directly multiplex the parking strategy data of the specific vehicle which finishes the parking task in the target parking lot, and directly sends the autonomous parking strategy of the specific vehicle to the target vehicle, so that the time for the parking lot end server to calculate the parking strategy of the target vehicle in real time is saved. Therefore, the target vehicle can quickly acquire the first parking strategy, and the first part on the planned parking track performs autonomous parking in the target parking lot according to the first autonomous parking strategy, so that the efficiency of executing the autonomous parking task by the target vehicle is improved.
In addition, in a specific embodiment, the first autonomous parking strategy includes a first parking trajectory and control instruction information corresponding to the first parking trajectory, the first parking trajectory is a parking trajectory of the specified vehicle in the target parking lot, the first parking trajectory includes at least one planned position on the first portion, and the control instruction information includes at least one of acceleration information, steering wheel angle information, and time information corresponding to the planned position.
In this way, it is convenient to control the target vehicle to autonomously park at least one of acceleration information, steering wheel angle information and time information corresponding to the target planned position for any one of the at least one planned position at a part of the planned parking trajectory coinciding with the first parking trajectory of the designated vehicle.
Based on the same concept as the autonomous parking method provided by any one of the embodiments shown in fig. 1 to 3, the embodiment of the present application also provides an autonomous parking device.
Fig. 6 is a schematic structural block diagram of an autonomous parking apparatus according to an embodiment of the present application, and as shown in fig. 6, the autonomous parking apparatus according to the embodiment of the present application may include:
the receiving module 61 is used for receiving a first autonomous parking strategy sent by the parking lot end server; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot;
and a control module 62, configured to control the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part of the planned parking trajectory, where the first part is a part of the planned parking trajectory that coincides with the parking trajectory of the specified vehicle.
According to the autonomous parking device provided by the embodiment of the application, for the first part on the planned parking track, the parking strategy data of the specified vehicle which finishes the parking task can be effectively reused, the real-time calculation amount of the target vehicle about the autonomous parking strategy is reduced, and therefore the efficiency of the target vehicle for executing the autonomous parking task is improved.
Further, the first autonomous parking strategy includes a first parking trajectory and control instruction information corresponding to the first parking trajectory, the first parking trajectory is a parking trajectory of the specified vehicle in the target parking lot, the first parking trajectory includes at least one planned position on the first portion, and the control instruction information includes at least one of acceleration information, steering wheel angle information, and time information corresponding to the planned position;
the control module is specifically configured to: and controlling the target vehicle to autonomously park according to at least one of acceleration information, steering wheel angle information and time information corresponding to the target planning position aiming at any one of the at least one planning position.
Optionally, the autonomous parking apparatus provided in the embodiment of the present application further includes:
the detection module is used for detecting whether an unmarked obstacle on a parking lot map exists on a first part of the planned parking track or not in the process of controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy;
a first determination module to determine a second autonomous parking strategy in the presence of an unmarked obstacle on a parking lot map, the second autonomous parking strategy comprising a second parking trajectory indicating a trajectory back onto the first parking trajectory after bypassing the obstacle;
the switching module is used for switching the parking strategy of the target vehicle from the first autonomous parking strategy to a second autonomous parking strategy;
the control module is further configured to: and after the target vehicle leaves the first parking track and before the target vehicle returns to the first parking track again, controlling the target vehicle to conduct autonomous parking in the target parking lot according to the second autonomous parking strategy.
Optionally, the autonomous parking apparatus provided in the embodiment of the present application further includes:
a second determination module: for determining a third autonomous parking strategy applicable to a second portion of the planned parking trajectory, wherein the second portion is a portion of the planned parking trajectory other than the first portion;
the control module is further configured to control the target vehicle to autonomously park in the target parking lot according to the third autonomous parking strategy at a second part of the planned parking trajectory.
Based on the same concept as the autonomous parking method provided by any one of the embodiments shown in fig. 1-3, the embodiment of the present application also provides an autonomous parking apparatus.
Fig. 7 is a schematic structural block diagram of an autonomous parking apparatus according to an embodiment of the present application, and as shown in fig. 7, the autonomous parking apparatus according to the embodiment of the present application includes: the system comprises a memory, a processor and an autonomous parking program stored on the memory and capable of running on the processor, wherein the autonomous parking program realizes any one of the autonomous parking methods provided by the embodiments of the application in fig. 1-3 when being executed by the processor. For example, the autonomous parking program may implement the following processes when executed by the processor: receiving a first autonomous parking strategy sent by a parking lot end server; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle having completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with a planned parking trajectory of the target vehicle in the target parking lot; and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory.
According to the autonomous parking device provided by the embodiment of the application, for the first part on the planned parking trajectory, the parking strategy data of the specified vehicle which finishes the parking task can be effectively reused, the real-time calculation amount of the target vehicle about the autonomous parking strategy is reduced, and therefore the efficiency of the target vehicle for executing the autonomous parking task is improved.
In addition, the embodiment of the application also provides a vehicle, and the vehicle can comprise any one of the autonomous parking devices provided by the embodiment of the application.
According to the vehicle provided by the embodiment of the application, aiming at the first part on the planned parking track, the parking strategy data of the specified vehicle which finishes the parking task can be effectively reused, and the real-time calculation amount of the target vehicle about the autonomous parking strategy is reduced, so that the efficiency of the target vehicle for executing the autonomous parking task is improved.
Based on the same concept as the autonomous parking method provided by the embodiment shown in fig. 4-5, the embodiment of the present application also provides a parking lot end server.
Fig. 8 is a schematic structural block diagram of a parking lot end server according to an embodiment of the present disclosure, and as shown in fig. 8, the parking lot end server according to the embodiment of the present disclosure may include:
a determining module 81, configured to determine, in response to detecting a target vehicle, a planned parking trajectory of the target vehicle in a target parking lot;
the determining module is further used for determining a first autonomous parking strategy; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle which has completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot;
a sending module 82, configured to send a first autonomous parking strategy to the target vehicle, so that a first portion of the target vehicle on the planned parking trajectory performs autonomous parking in the target parking lot according to the first autonomous parking strategy, where the first portion is a portion of the planned parking trajectory that coincides with the parking trajectory of the specified vehicle.
According to the parking lot end server provided by the embodiment of the application, aiming at the first part of the target vehicle on the planned parking track of the target parking lot, the parking strategy data of the specified vehicle which finishes the parking task can be effectively reused, the real-time calculation amount of the target vehicle about the autonomous parking strategy is reduced, and therefore the efficiency of the target vehicle executing the autonomous parking task is improved.
Optionally, the parking lot end server provided in the embodiment of the present application further includes:
the system comprises a receiving module, a parking module and a control module, wherein the receiving module is used for receiving an autonomous parking strategy sent by at least one specific vehicle which finishes a parking task in a target parking lot, and the autonomous parking strategy comprises a parking track of the specific vehicle and control instruction information corresponding to the parking track;
the storage module is used for storing the autonomous parking strategy corresponding to the at least one specific vehicle;
correspondingly, the determining module is specifically configured to determine the specified parking strategy matched with the target vehicle from the stored autonomous parking strategies, and use the determined specified parking strategy as a first autonomous parking strategy.
Fig. 9 is a schematic structural block diagram of a parking lot end server according to an embodiment of the present disclosure, and as shown in fig. 9, the parking lot end server according to the embodiment of the present disclosure may include:
the system comprises a memory, a processor and an autonomous parking program stored on the memory and capable of running on the processor, wherein the autonomous parking program realizes any one of the autonomous parking methods provided by the embodiments of the application in FIGS. 4-5 when being executed by the processor. For example, the autonomous parking program may implement the following processes when executed by the processor: in response to detecting a target vehicle, determining a planned parking trajectory of the target vehicle at a target parking lot; determining a first autonomous parking strategy; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle which has completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot; and sending a first autonomous parking strategy to the target vehicle, so that a first part of the target vehicle on the planned parking trajectory performs autonomous parking in the target parking lot according to the first autonomous parking strategy, wherein the first part is a part of the planned parking trajectory, which is overlapped with the parking trajectory of the specified vehicle.
According to the parking lot end server provided by the embodiment of the application, aiming at the first part of the target vehicle on the planned parking track of the target parking lot, the parking strategy data of the specified vehicle which finishes the parking task can be effectively reused, the real-time calculation amount of the target vehicle about the autonomous parking strategy is reduced, and therefore the efficiency of the target vehicle executing the autonomous parking task is improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. An autonomous parking method applied to a target vehicle, comprising:
receiving a first autonomous parking strategy sent by a parking lot end server; the first autonomous parking strategy is a designated parking strategy of a designated vehicle which completes a parking task in a target parking lot, and a parking track of the designated vehicle in the target parking lot is at least partially overlapped with a planned parking track of the target vehicle in the target parking lot;
and controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part on the planned parking trajectory, wherein the first part is a part, which is overlapped with the parking trajectory of the specified vehicle, on the planned parking trajectory.
2. The autonomous parking method according to claim 1, wherein the first autonomous parking strategy includes a first parking trajectory that is a parking trajectory of the specified vehicle at the target parking lot and that includes at least one planned position on the first portion, and control instruction information corresponding to the first parking trajectory, the control instruction information including at least one of acceleration information, steering wheel angle information, and time information corresponding to the planned position;
in a first part of the planned parking trajectory, controlling the target vehicle to autonomously park in the target parking lot according to the first autonomous parking strategy, including: and controlling the target vehicle to autonomously park according to at least one of acceleration information, steering wheel angle information and time information corresponding to the target planning position aiming at any one of the at least one planning position.
3. The autonomous parking method according to claim 1 or 2, characterized in that the autonomous parking method further includes:
detecting whether an unmarked obstacle on a parking lot map exists on a first part of the planned parking trajectory or not in the process of controlling the target vehicle to perform autonomous parking in the target parking lot according to the first autonomous parking strategy;
determining a second autonomous parking strategy in the presence of an unmarked obstacle on a parking lot map, the second autonomous parking strategy comprising a second parking trajectory indicating a trajectory back onto the first parking trajectory after bypassing the obstacle;
switching the parking strategy of the target vehicle from the first autonomous parking strategy to a second autonomous parking strategy;
and after the target vehicle leaves the first parking track and before the target vehicle returns to the first parking track again, controlling the target vehicle to conduct autonomous parking in the target parking lot according to the second autonomous parking strategy.
4. The autonomous parking method according to claim 1, characterized in that the autonomous parking method further comprises:
determining a third autonomous parking strategy applicable to a second portion of the planned parking trajectory, wherein the second portion is a portion of the planned parking trajectory other than the first portion;
and in a second part on the planned parking trajectory, controlling the target vehicle to perform autonomous parking in the target parking lot according to the third autonomous parking strategy.
5. An autonomous parking method is applied to a parking lot end server and is characterized by comprising the following steps:
in response to detecting a target vehicle, determining a planned parking trajectory of the target vehicle at a target parking lot;
determining a first autonomous parking strategy; wherein the first autonomous parking strategy is a designated parking strategy of a designated vehicle which has completed a parking task in a target parking lot, and a parking trajectory of the designated vehicle in the target parking lot at least partially coincides with the planned parking trajectory of the target vehicle in the target parking lot;
and sending a first autonomous parking strategy to the target vehicle, so that the target vehicle performs autonomous parking in the target parking lot according to the first autonomous parking strategy in a first part of the planned parking trajectory, wherein the first part is a part of the planned parking trajectory, which is overlapped with the parking trajectory of the specified vehicle.
6. The autonomous parking method according to claim 5,
receiving an autonomous parking strategy transmitted by at least one specific vehicle which completes a parking task in the target parking lot, wherein the autonomous parking strategy comprises a parking track of the specific vehicle and control instruction information corresponding to the parking track;
storing an autonomous parking strategy corresponding to the at least one specific vehicle;
the determining a first autonomous parking strategy includes:
and determining the specified parking strategy matched with the target vehicle from the stored autonomous parking strategies to serve as a first autonomous parking strategy.
7. The autonomous parking method according to claim 5 or 6, wherein the first autonomous parking strategy includes a first parking trajectory that is a parking trajectory of the specified vehicle at the target parking lot and that includes at least one planned position on the first portion, and first control instruction information corresponding to the first parking trajectory, the first control instruction information including at least one of acceleration information, steering wheel angle information, and time information corresponding to the planned position.
8. An autonomous parking apparatus characterized by comprising: a memory, a processor and an autonomous parking program stored on the memory and executable on the processor, wherein the autonomous parking program, when executed by the processor, implements the steps in the autonomous parking method according to any one of claims 1 to 4.
9. A vehicle characterized in that the vehicle includes the autonomous parking apparatus according to claim 8.
10. A parking lot end server, comprising: a memory, a processor, and an autonomous parking program stored on the memory and executable on the processor, the autonomous parking program, when executed by the processor, implementing the steps in the autonomous parking method according to any one of claims 5 to 7.
CN202210162001.0A 2022-02-22 2022-02-22 Autonomous parking method, device, vehicle and parking lot end server Pending CN114613180A (en)

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Application publication date: 20220610