CN115140021A - Parking method for autonomous vehicle and related device - Google Patents

Abstract

The application discloses a parking method and related equipment for an automatic driving vehicle, wherein the parking method comprises the steps of obtaining a preset area which is far away from the vehicle, wherein the preset area comprises a currently available default stop point, and the default stop point represents a stop point automatically planned according to a destination; in response to the preset area further comprises at least one currently available alternative stop point, controlling the at least one alternative stop point and the default stop point to be displayed for selection; in response to any one of the at least one alternative waypoint being selected, replacing the default waypoint with the selected alternative waypoint to update the default waypoint; and planning a parking path according to the selected alternative parking point, so as to control the automatic driving vehicle to park at the selected alternative parking point. And the final stop point is adjusted according to the selection of the passenger, so that the matching degree between the passenger and the final stop point is enhanced, and the passenger can conveniently get off.

Description

Parking method for autonomous vehicle and related device

Technical Field

The present application relates to the field of automatic driving technologies, and in particular, to a parking method for an automatic driving vehicle and a related device.

Background

At present, an automatic driving automobile can carry passengers to go to a destination from an initial position, the destination is often a relatively fixed position point, and the passengers can only select the destination, but specific getting-off positions of the destination cannot be selected.

Although some existing solutions recommend stopping places to passengers, the options of the stopping places are determined according to historical information of the driving of the automobile, do not specifically consider the real-time situation of the stopping places, such as the stopping places are occupied, and do not necessarily meet the actual getting-off demands of the passengers.

In addition, when the passenger finds that the final parking place of the automobile is not ideal, the parking place of the automatic driving automobile cannot be adjusted according to the actual situation, and the further activity efficiency of the passenger is influenced.

Disclosure of Invention

The application provides a parking method and related equipment for automatically driving a vehicle, which can adjust a final stop point according to the selection of a passenger, enhance the matching degree between the passenger and the final stop point and facilitate the passenger to get off.

In order to solve the above technical problem, the first technical solution adopted by the present application is: there is provided a parking method of an autonomous vehicle, including: acquiring a preset area which is far away from the vehicle, wherein the preset area comprises a currently available default stop point, and the default stop point represents a stop point automatically planned according to a destination; in response to the preset area further comprises at least one currently available alternative stop point, controlling the at least one alternative stop point and the default stop point to be displayed for selection; in response to any one of the at least one alternative waypoint being selected, replacing the default waypoint with the selected alternative waypoint to update the default waypoint; and planning a parking path according to the selected alternative parking point, so as to control the automatic driving vehicle to park at the selected alternative parking point.

Wherein the method further comprises: and responding to the fact that no available stopping point exists in the preset area within the first preset time, and obtaining a temporary stopping point so as to control the automatic driving vehicle to stop the temporary stopping point.

And responding to the fact that the automatic driving vehicle does not stop in the preset area, and obtaining a temporary stop point so as to control the automatic driving vehicle to stop the temporary stop point.

The temporary stopping point is located outside the preset area and is a preset distance away from the preset area.

Wherein the method further comprises: and responding to the situation that any one of the at least one alternative stop point is not selected within second preset time, and obtaining a stop path planned according to the default stop point so as to control the automatic driving vehicle to stop at the default stop point.

And responding to the unavailability of the selected alternative stop point when the automatic driving vehicle stops, and acquiring a stop path planned according to the default stop point so as to control the automatic driving vehicle to stop at the default stop point.

And responding to the situation that no currently available alternative stop points exist in the preset area, and acquiring a stop path planned according to the default stop point so as to control the automatic driving vehicle to stop at the default stop point.

And the alternative stop points are obtained by planning the vehicle according to the environment information of the preset area obtained by current detection.

The second technical scheme adopted by the application is as follows: an in-vehicle device is provided comprising a processor, and a memory and a display coupled to the processor, the memory for storing a computer program, the processor for executing the computer program to implement the method for parking an autonomous vehicle via the display.

The third technical scheme adopted by the application is as follows: a non-transitory computer-readable storage medium is provided for storing a computer program for implementing the method for parking an autonomous vehicle when executed by a processor.

According to the scheme, the default stop point and the at least one alternative stop point are controlled to be displayed for selection by acquiring the preset area of the distance automatic driving vehicle, wherein the preset area comprises the currently available default stop point and the at least one alternative stop point; when any optional stop point is selected, the selected optional stop point is replaced with the default stop point, the parking path is planned according to the selected optional stop point, the automatic driving vehicle is controlled to stop at the selected optional stop point, the final stop point is adjusted according to the selection of the passenger, the matching degree between the passenger and the final stop point can be enhanced, and the passenger can conveniently get off the vehicle.

Drawings

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of an autonomous vehicle parking method of the present application;

FIG. 2 (a) is a schematic diagram of an interface effect of the docking point selection of the present application;

FIG. 2 (b) is a schematic diagram of another interface effect of the docking point selection of the present application;

FIG. 2 (c) is a schematic diagram of yet another interface effect for docking point selection according to the present application;

FIG. 3 is a schematic structural diagram of an embodiment of a vehicle-mounted device of the present application;

FIG. 4 is a schematic structural diagram of an embodiment of a non-volatile computer-readable storage medium according to the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples of the present application, not all examples, and all other examples obtained by a person of ordinary skill in the art without making any creative effort fall within the protection scope of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

It should be noted that the terms "first", "second" and "third" in the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a parking method for automatically driving a vehicle according to the present disclosure. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. The method can be applied to vehicle-mounted equipment with functions of calculation and the like, the vehicle-mounted equipment can receive road information acquired by sensor equipment to execute the method, the sensor equipment can be a camera, a laser radar or a millimeter wave radar of automatic driving vehicle equipment, the sensor equipment can sense real physical world dynamic scenes around the vehicle in the driving process of the automatic driving vehicle, and a stop point is identified by combining a high-precision map and a positioning technology. As shown in fig. 1, the method comprises the steps of:

s1, a preset area of a vehicle is obtained, wherein the preset area comprises currently available default stop points, and the default stop points represent stop points automatically planned according to destinations.

The automatic driving vehicle carrying the sensing equipment can detect surrounding environment information in real time in the driving process, the surrounding scene of the vehicle can be sensed before the vehicle reaches the destination, and the vehicle can temporarily plan the alternative parking space according to the environment information of the preset area obtained by sensing. The method comprises the steps of obtaining a preset area which is far away from an automatic driving vehicle, wherein the preset area is an area which is formed by taking the automatic driving vehicle as a center and taking a preset distance as a radius, and the preset area comprises information of road conditions. For example, the preset distance may be 200 meters, and the preset area is an area around the vehicle within a range of 200 meters, where the preset distance may also be other realizable values, and may be set according to actual requirements, and is not specifically limited. Optionally, the preset area is an area within a preset distance range in front of the vehicle in the traveling direction of the autonomous vehicle, and when the autonomous vehicle travels to a position near the destination, that is, the destination is located in the preset area, the stop point is planned.

In consideration of travel convenience, the vehicle often chooses to plan an alternative parking space near the destination, and therefore, in the invention, the obtained preset area of the vehicle comprises a default parking point which represents a parking point initially planned according to the destination. In the present invention, a stop point may indicate that the stop point is free and unoccupied, and there is no obstacle on the traveling route of the vehicle from the current position to the stop point.

In one embodiment, the alternative parking points may be planned according to the standard of standard parking and non-standard parking spaces, the definition of the standard parking spaces refers to the specification of the urban road in-road parking space setting specification, the physical boundaries of the non-standard parking spaces need to meet the parking requirements, for example, the length needs to be no less than 6000mm, the width needs to be no less than 2000mm, and the non-standard parking spaces need to be in the parking available area of the road, not parking sections, and the vacant parking spaces represent parking spaces that are not occupied by pedestrians, motor vehicles or non-motor vehicles. Good road conditions around parking spaces include, but are not limited to, situations where there is no significant unevenness in the ground, and where the difference in ground grade is less than 30 degrees. Obstacles on the traveling route of the vehicle to the stopping point include static obstacles and dynamic obstacles, and the static obstacles are fixed at a certain position and the position of the obstacles cannot be easily changed, such as ground lock; dynamic obstacles are obstacles that are not fixed in a certain position and can move at any time, such as animals and leather balls.

In one embodiment, before the vehicle reaches the destination, a preset area distant from the vehicle is obtained in real time, when the destination is located in the preset area, a parking path is planned, and the vehicle plans the path according to the environment information obtained through sensing and according to a default stop point and an alternative stop point in the preset area. The currently available indicates that the stop point is available when the vehicle acquires a preset area before reaching the destination. The default stop point represents a stop point automatically planned according to the destination, for example, the stop point closest to the destination is planned as the default stop point, or other realizable planning manners may be adopted, which is not particularly limited.

S2, in response to the preset area further comprising at least one available alternative stop point, controlling the at least one alternative stop point and the default stop point to be displayed for selection.

The alternative stop points are other stop points, except for the default stop point, planned according to the environmental information of the preset area, of the vehicle, the number of the alternative stop points is at least one, the at least one alternative stop point and the default stop point are controlled to be displayed, the display in a map mode is available, the comparison and the watching of passengers are facilitated, and then the passengers can select the stop points. The vehicle-mounted display can be controlled to display, and after the passengers see the prompt information, man-machine interaction is achieved through the vehicle-mounted display, so that at least one displayed alternative stop point and at least one displayed default stop point can be selected. Or, the mobile phone APP that can also control to connect shows, makes things convenient for the passenger to operate the selection. Still alternatively, in some specific scenarios, the prompt may also be made in the form of sound, such as for visually impaired passengers, the station may be prompted to be changed by voice, and the station may be updated according to the received voice instruction. The specific display device and the display mode are not limited in detail herein.

And S3, responding to the fact that any one of the at least one alternative stop point is selected, and replacing the default stop point with the selected alternative stop point to serve as a new target stop point.

The method comprises the steps that a passenger selects alternative stop points displayed on a vehicle-mounted display according to the getting-off requirement of the passenger, if any one of at least one alternative stop point is selected, the selected information of the alternative stop points is controlled to be displayed, the passenger is prompted to confirm the selected alternative stop points, after the passenger confirms the selected alternative stop points, the selected alternative stop points are used for replacing default stop points to serve as new target stop points, meanwhile, the information that the stop points are updated successfully is displayed, and the passenger is prompted to operate successfully.

And S4, planning a parking path according to the new target parking point, so as to control the automatic driving vehicle to park at the selected alternative parking point.

Planning a parking path of the automatic driving vehicle according to the selected alternative parking point, controlling the automatic driving vehicle to park according to the planned parking path, finally parking at the selected alternative parking point, and controlling information of successful parking to be displayed so as to prompt passengers to get off, so that the passengers can get off from the selected alternative parking point.

For example, before the automatically driven vehicle reaches the destination, a preset area distant from the automatically driven vehicle is obtained, the preset area includes a default stop point and three alternative stop points, the default stop point is a default stop point planned according to the destination and historical environmental information, the three alternative stop points are stop points planned according to the environmental information of the preset area obtained by real-time detection, and the default stop point and the three alternative stop points are both available currently. And controlling the default stop point and the three alternative stop points to be displayed through the vehicle-mounted display, and simultaneously controlling the prompt information to be displayed through the vehicle-mounted display. After seeing the prompt message, the passenger can select an alternative stop point from the three alternative stop points according to the self getting-off requirement. And controlling the selected information of the alternative stop points to be displayed, replacing the selected alternative stop points with default stop points, and planning a parking path according to the selected alternative stop points, so that the automatic driving vehicle is controlled to stop at the selected alternative stop points, and after stopping is finished, controlling the information of successful stopping to be displayed so as to prompt passengers to get off.

According to the scheme, the default stop point and the at least one alternative stop point are controlled to be displayed for selection by acquiring the preset area of the distance automatic driving vehicle, wherein the preset area comprises the currently available default stop point and the at least one alternative stop point; when any optional stop point is selected, the selected optional stop point is replaced with the default stop point, the parking path is planned according to the selected optional stop point, the automatic driving vehicle is controlled to stop at the selected optional stop point, the final stop point is adjusted according to the selection of the passenger, the matching degree between the passenger and the final stop point can be enhanced, and the passenger can conveniently get off the vehicle.

In an embodiment of the application, prompt information for controlling the selection of the stop point is displayed to prompt the selection of the alternative stop point.

FIG. 2 (a) is a schematic view of an interface effect of the stop point selection of the present application, and as shown in FIG. 2 (a), the default stop point is highlighted with respect to at least one other alternative stop point, for example, an icon frame of the default stop point is displayed in bold, or an icon of the default stop point is displayed in highlight, or any other manner capable of realizing the highlighting may be used, which is not specifically limited. And the position of the automatic driving vehicle can be controlled to be displayed, the traveling route between the vehicle and the default stop point to be stopped is controlled to be displayed, for example, the stopping route of the vehicle is represented by a smooth curve, the traveling direction of the vehicle is represented by an arrow at the end of the stopping route, or other realizable modes can be used, which are not particularly limited, so as to prompt the passenger that the default stop point is currently to be stopped. Meanwhile, the prompt message for controlling the stop point selection is displayed, for example, the prompt message for the stop point selection includes but is not limited to: and (4) the default stop point is about to be reached, and if the current stop point is not satisfied, other stop points can be selected by clicking. The selected stop point and the stop point to be selected are displayed differently, and the corresponding icon explanation can be controlled to be displayed so as to prompt the passenger to distinguish the currently selected stop point from the selectable stop point. And the prompt information of the stop point selection can be prompted in a voice mode, so that the passengers can select the stop points according to the distribution condition of at least one displayed alternative stop point and the self-getting-off requirement after seeing or hearing the prompt information of the stop point selection.

Fig. 2 (b) is a schematic view illustrating another interface effect of the stop point selection in the present application, and as shown in fig. 2 (b), if a passenger selects one of at least one alternative stop point, the selected alternative stop point is controlled to be highlighted with respect to the default stop point and the other alternative stop points, and information confirming the stop points is controlled to be displayed. The following takes the icon frame of the selected stop point to be displayed in a bold manner as an example, and is used for prompting the passenger that the candidate stop point of the icon frame with the bold manner is the currently selected candidate stop point, and simultaneously controlling the information of selection confirmation and selection cancellation to be displayed so as to prompt the passenger to confirm the selected candidate stop point or cancel the reselection.

And if the passenger deselects, displaying the default stop point in a highlighted mode relative to at least one other alternative stop point, planning a parking path according to the default stop point, and simultaneously controlling the information selected by the stop point to be displayed so as to prompt the passenger to reselect the stop point. In addition, the cancellation times can be preset, namely when the cancellation times of passengers reach the preset times, the selection information of the passengers is not acquired, and the parking path is directly planned according to the default parking point.

Fig. 2 (c) is a schematic view of another interface effect of the stop point selection in the present application, as shown in fig. 2 (c), if the passenger confirms to select the alternative stop point, the default stop point is replaced with the selected alternative stop point to serve as a new target stop point, a stop path is planned according to the selected alternative stop point, and the modified vehicle traveling route is controlled to be displayed, so that the vehicle is enabled to point to the selected alternative stop point through the traveling route, thereby indicating that the vehicle will stop at the selected alternative stop point.

In an embodiment of the present application, the parking method of an autonomous vehicle further includes: and responding to the fact that no available stopping point exists in the preset area within the first preset time, and obtaining the temporary stopping point so as to control the automatic driving vehicle to stop the temporary stopping point.

The method comprises the steps that an automatic driving vehicle obtains a preset area which is far away from the vehicle before reaching a destination, wherein one purpose is to search available stop points in the preset area, if no stop point is available in the preset area within first preset time, a temporary stop point is obtained, and the automatic driving vehicle is controlled to stop at the temporary stop point.

It is understood that the first preset time may be a time taken for the autonomous vehicle to travel to the destination, and may be set according to a traveling speed of the autonomous vehicle or other parking requirements, which is not particularly limited. For example, the first preset time may be set to 3 minutes according to the current vehicle speed of the vehicle, that is, if any available stop point is not acquired within 3 minutes, the temporary stop point is acquired. Or, the first preset time may also be a sum of a preset running time for the autonomous vehicle to run to the destination and a preset waiting time for the vehicle to reach the destination, where the preset running time may be set according to a traveling speed of the autonomous vehicle or other parking requirements, and the preset waiting time for the vehicle to reach the destination may be set according to environment information of a preset area without specific limitation. For example, if the preset travel time is set to 3 minutes and the preset waiting time is set to 1.5 minutes, the first preset time is 4.5 minutes, that is, if no available stop point is obtained within 4.5 minutes, the temporary stop point is obtained.

The temporary means that the vehicle is temporarily parked and cannot be parked for a long time, the temporary parking point needs to satisfy temporary parking conditions including, but not limited to, safe parking environment, no traffic jam, and the road allowing temporary parking.

Wherein, the parking environment safety indicates that no collision risk exists within the preset time and the preset distance. For example, in the preset time, no moving object is close to the side rear of the autonomous vehicle within the preset distance, such as a running motor vehicle or a non-motor vehicle, the preset time and the preset distance may be set according to an actual road condition, the preset time may be set to 2 minutes, and the preset distance may be set to 30 meters without specific limitation. In other words, in the process of getting off the vehicle and in the time of arriving at the safety position, no moving object approaches, or even if a moving object approaches, the safety distance between the object and the passenger can be ensured, and the collision is avoided. Traffic jam is not caused, and the condition that other vehicles on the road are influenced in the process of temporary stop is avoided. The road-allowed temporary stop means that the vehicle is allowed to temporarily stop according to the traffic regulation of the current road section.

And controlling the automatic driving vehicle to stop at the temporary stop point, and after the automatic driving vehicle stops successfully, controlling the information of the successful stopping to display so as to prompt passengers to get off. By obtaining the temporary stop point for stopping, even if no stop point is available, the passengers can be ensured to get off smoothly.

In an embodiment of the application, in response to the fact that the autonomous vehicle does not stop in the preset area, a temporary stop point is obtained to control the autonomous vehicle to stop at the temporary stop point.

The method comprises the steps of obtaining a preset area which is far away from a vehicle before the automatic driving vehicle reaches a destination, planning a parking path of the vehicle according to the selection of a passenger, and in the process that the automatic driving vehicle travels towards an available stop point along the parking path, if an obstacle appears at the available stop point, for example, the obstacle is occupied by a moving motor vehicle or a non-motor vehicle, the automatic driving vehicle cannot stop, further obtaining a temporary stop point, planning the parking path according to the temporary stop point, and controlling the automatic driving vehicle to stop at the temporary stop point so that the passenger can get off smoothly.

In an embodiment of the present application, the temporary stop point is located within a predetermined area.

The method comprises the steps that an automatic driving vehicle obtains a preset area which is far away from the vehicle before reaching a destination, and if no available stop point exists in the preset area within preset time, a temporary stop point meeting temporary stop conditions is obtained in the preset area; or in the process that the automatic driving vehicle moves towards the stop points around the destination, the stop points are occupied, so that the automatic driving vehicle does not finish stopping, at the moment, the automatic driving vehicle is located around the destination, and the temporary stop points meeting the temporary stop conditions are obtained in the preset area. The parking conditions include, but are not limited to, safe parking environment, no traffic congestion, and the road allowing for parking.

It is understood that the autonomous vehicle does not acquire any available stop points within the preset area, or does not finish stopping within the preset area, and acquires temporary stop points around the destination within the preset area. For example, under the condition that the parking environment is safe and traffic jam cannot be caused, the automatic driving vehicle can be directly parked in parallel with the automobile parked beside the road, so that passengers can get off conveniently, and inconvenience brought to the passengers is reduced.

In an embodiment of the present application, the temporary stop point is located outside the preset area and at a preset distance from the preset area.

The temporary stopping point is located in a temporary stopping range, the temporary stopping range is outside the preset area, and the distance between the temporary stopping point and the preset area is within a preset distance. When the automatic driving vehicle runs to the position near the destination, and when no available stop point exists in the preset area, or stop is not completed in the preset area, and no temporary stop point meeting the temporary stop condition exists in the preset area, the automatic driving vehicle is located around the destination, and the temporary stop point outside the preset area and within the preset distance from the preset area can be obtained. The temporary stopping point is obtained in the temporary stopping range outside the preset area, so that the searching range can be expanded, and the stopping can be successfully completed.

For example, the preset area is a circular area with an autonomous vehicle as a center and a radius of 200 meters, the preset distance is 100 meters, and the vehicle is located near the destination, the temporary parking range is a circular area within 200 meters and 300 meters away from the vehicle, and the center of the temporary parking range can also be understood as the destination, and a temporary parking point within the circular temporary parking range is obtained for parking. The preset area and the preset distance can be set according to the actual road condition, and are not limited specifically.

In an embodiment of the present application, the parking method of an autonomous vehicle further includes: and displaying parking failure information to prompt the automatic driving vehicle to park again in response to the incomplete parking of the automatic driving vehicle at the temporary parking point.

The method comprises the steps of obtaining a preset area which is far away from a vehicle before the automatic driving vehicle reaches a destination, planning a parking path of the vehicle according to the selection of a passenger, and in the process that the automatic driving vehicle travels towards an available parking point along the parking path, if an obstacle appears at the available parking point, for example, the obstacle is occupied by a moving motor vehicle or a non-motor vehicle, the automatic driving vehicle cannot park, and further obtaining a temporary parking point.

And controlling the automatic driving vehicle to detour around the destination, and continuously acquiring available stop points around the destination for stopping during the detour. For example, in the process of the automatic driving vehicle detouring, if other vehicles drive away, available stop points can be obtained, and a stop path is planned according to the available stop points, so that the automatic driving vehicle is controlled to stop.

And if the available stop point is not obtained in the preset time all the time in the process of the automatic driving vehicle bypassing, obtaining the available stop point in the preset distance outside the temporary stop range. For example, the temporary parking range is a circular ring range which is 200 meters away from the autonomous vehicle and 300 meters away from the autonomous vehicle, the autonomous vehicle is located near the destination, the center of the temporary parking range can also be understood as the destination, the preset distance is 100 meters, the preset time is 5 minutes, and when the autonomous vehicle still does not obtain an available parking point after going around for 5 minutes, the available parking point which is 300 meters away from the autonomous vehicle and 400 meters away from the autonomous vehicle is obtained, so as to control the autonomous vehicle to park. The temporary stopping range, the preset distance and the preset time can be set according to the actual road condition, and are not specifically limited.

In an embodiment of the present application, the parking method of an autonomous vehicle further includes: and responding to the situation that any one of the at least one alternative stopping point is not selected within the second preset time, and obtaining a stopping path planned according to the default stopping point so as to control the automatic driving vehicle to stop at the default stopping point.

The method comprises the steps that before an automatic driving vehicle reaches a destination, a preset area far away from the vehicle is obtained, the preset area comprises a currently available default stop point and at least one alternative stop point, the alternative stop points are other stop points around the default stop point, and the at least one alternative stop point and the default stop point are controlled to be displayed so that a passenger can select the alternative stop point.

If the passenger does not select any one of the alternative stop points within the second preset time, namely the information that any one of the alternative stop points is selected is not obtained, the passenger gives up the selection, or the passenger selects the default stop point, namely the information that the default stop point is selected is obtained, the stop path is planned according to the default stop point, and then the automatic driving vehicle is controlled to stop according to the stop path.

The second preset time is used for waiting for comparison and selection of passengers, the second preset time and the alternative stop points are displayed together, the second preset time can be controlled to be displayed in a countdown mode and used for prompting the passengers to select in the remaining time, whether any one alternative stop point is selected or not is continuously acquired in the second preset time, the selection is not acquired after the second preset time is exceeded, and the stop path is directly planned according to the default stop point.

For example, the second preset time is 30 seconds, the default stop point, the at least one alternative stop point and the second preset time are controlled to be displayed through the vehicle-mounted display, and the second preset time of 30 seconds is displayed in a countdown mode. And within the countdown time of 30 seconds, if any one alternative stop point is not selected, planning a stop path according to the default stop point, and controlling the automatic driving vehicle to stop. In one embodiment, the second preset time can be set in other manners, such as starting from displaying the prompt message of selecting the stop point, if no passenger instruction is received within 30 seconds, the passenger is considered not to select other stop points, and the stop is continued at the default stop point. The second preset time can also be set to other values according to actual requirements, and is not particularly limited.

In an embodiment of the application, in response to that the selected alternative stop point is unavailable when the autonomous vehicle stops, a stop path planned according to the default stop point is obtained, so that the autonomous vehicle is controlled to stop at the default stop point.

Before the automatic driving vehicle reaches the destination, a preset area from the vehicle is obtained, the preset area comprises an initial default stop point and at least one alternative stop point, and the initial default stop point can be the stop point closest to the destination. The method comprises the steps of controlling an initial default stop point and at least one alternative stop point to display, selecting the alternative stop points displayed on a vehicle-mounted display by a passenger according to getting-off requirements, controlling selected information of the alternative stop points to display if any one alternative stop point is selected, and prompting the passenger to confirm the selected alternative stop points.

And planning a parking path of the vehicle according to the alternative stop point selected by the passenger, and if an obstacle, such as occupation by a moving motor vehicle or a non-motor vehicle, appears at the selected alternative stop point during the process that the automatic driving vehicle travels towards the selected alternative stop point along the parking path, the selected alternative stop point is unavailable when the vehicle arrives, so that the automatic driving vehicle cannot stop. And acquiring an initial default stop point, planning a parking path according to the initial default stop point, and controlling the automatic driving vehicle to stop at the initial default stop point.

In an embodiment of the application, in response to that no currently available alternative stop point exists in the preset area, a stop path planned according to the default stop point is obtained, so that the automatic driving vehicle is controlled to stop at the default stop point.

Before the automatic driving vehicle reaches the destination, a preset area far away from the vehicle is obtained, only default stop points are included in the preset area, any currently available alternative stop points do not exist, information of the default stop points is controlled to be displayed, the selection of passengers is not needed, a parking path is directly planned according to the default stop points, and then the automatic driving vehicle is controlled to stop at the default stop points.

In an embodiment of the present application, the alternative stop point is obtained by planning the vehicle according to the environment information of the preset area obtained by current detection.

It can be appreciated that the environment information of the preset area is detected in real time before the autonomous vehicle reaches the destination, and the preset area comprises the default stopping point. And planning the vehicle according to the environment information of the preset area obtained by current detection so as to obtain the alternative stop point. The planning mode can be planned according to the size of a standard parking space or a non-standard parking space, or according to the size of an automatic driving vehicle, or according to other realizable modes, and is not limited specifically.

For example, the environment information of the preset area includes an empty space with a length of 20 meters and a width of 2.1 meters, and the planning is performed according to the size of the non-standard parking space, where the length of the non-standard parking space needs to be not less than 6 meters, and the width needs to be not less than 2 meters, so that the empty space can be planned to obtain three alternative parking points. Or, the environmental information in the preset area further includes an empty space with a length of 5.5 meters and a width of 2 meters, and if the length of the autonomous vehicle is 4.5 meters and the width of the autonomous vehicle is 1.8 meters, the empty space can be planned as an alternative stop point according to the size of the autonomous vehicle.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a vehicle-mounted device according to the present application, where the vehicle-mounted device 100 includes a processor 101, and a memory 102 and a display 103 coupled to the processor, the display 103 is used for displaying information and implementing human-computer interaction, the memory 102 is used for storing a computer program, and the processor 101 is used for executing the computer program to implement the parking method for an autonomous vehicle in the foregoing embodiment through the display 103.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a non-volatile computer-readable storage medium 200 of the present application, where the computer-readable storage medium 200 is used for storing a computer program 201, and the computer program 201 is used for implementing the parking method of the autonomous vehicle in the foregoing embodiment when being executed by the processor 101.

The computer-readable storage medium 200 may be a server, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules or units is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The above description is only an embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes performed by the present application and the contents of the attached drawings, which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A parking method for an autonomous vehicle, comprising:

acquiring a preset area which is far away from the vehicle, wherein the preset area comprises a currently available default stop point, and the default stop point represents a stop point automatically planned according to a destination;

in response to the preset area further comprises at least one currently available alternative stop point, controlling the at least one alternative stop point and the default stop point to be displayed for selection;

in response to any of the at least one alternative waypoint being selected, replacing the default waypoint with the selected alternative waypoint as a new target waypoint;

and planning a parking path according to the new target parking point, so as to control the automatic driving vehicle to park the selected alternative parking point.

2. The parking method according to claim 1, further comprising:

and responding to the situation that no available stop point exists in the preset area within the first preset time, and acquiring a temporary stop point so as to control the automatic driving vehicle to stop at the temporary stop point.

3. The parking method according to claim 1, wherein in response to the autonomous vehicle not completing parking within the preset area, a temporary parking point is acquired to control the autonomous vehicle to park the temporary parking point.

4. Parking method according to claim 2 or 3, wherein said temporary stopping point is located outside said preset area and at a preset distance from said preset area.

5. The parking method according to claim 1, further comprising:

and responding to the situation that any one of the at least one alternative stop point is not selected within second preset time, and obtaining a stop path planned according to the default stop point so as to control the automatic driving vehicle to stop at the default stop point.

6. The parking method of claim 1, wherein in response to the selected alternative stop being unavailable when the autonomous vehicle is parked, a parking path planned according to the default stop is obtained to control the autonomous vehicle to park at the default stop.

7. The parking method according to claim 1, wherein in response to no currently available alternative stop points existing within the preset area, a parking path planned in accordance with the default stop point is acquired to control the autonomous vehicle to park at the default stop point.

8. The parking method according to any one of claims 1 to 7, wherein the alternative stop is planned by the vehicle according to the currently detected environmental information of the preset area.

9. An in-vehicle apparatus comprising a processor and a memory and a display coupled to the processor, the memory for storing a computer program, the processor for executing the computer program to implement the method of parking an autonomous vehicle of any of claims 1-8 via the display.

10. A non-transitory computer-readable storage medium for storing a computer program for implementing the parking method of an autonomous vehicle according to any of claims 1-8 when the computer program is executed by a processor.

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