CN115352435A - Parking memory method, parking memory device, electronic equipment and storage medium - Google Patents
Parking memory method, parking memory device, electronic equipment and storage medium Download PDFInfo
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- CN115352435A CN115352435A CN202211020858.5A CN202211020858A CN115352435A CN 115352435 A CN115352435 A CN 115352435A CN 202211020858 A CN202211020858 A CN 202211020858A CN 115352435 A CN115352435 A CN 115352435A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The application discloses a memory parking method, a memory parking device, electronic equipment and a storage medium, and relates to the technical field of intelligent driving. In the method, in response to the memory parking of the vehicle, the respective position range of each original parking space in the parking environment of the vehicle is obtained, and the initial coordinate position of the vehicle is obtained; further, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until target parking spaces meeting preset parking conditions exist in a parking space search range set for the vehicle; and finally, screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space. By adopting the mode, the technical defect that the learning and the memory of the parking space can be realized only after the vehicle is parked in and out of the parking space in the prior art is avoided, and the efficiency of memorizing the parking space is improved.
Description
Technical Field
The present application relates to the field of intelligent driving technologies, and in particular, to a parking memory method and apparatus, an electronic device, and a storage medium.
Background
With the rapid development of the field of automatic driving, the memory parking technology is also applied more and more widely, wherein the memory parking is a passenger-replacing parking function capable of automatically driving along a fixed route.
Specifically, in the related art, in order to implement memory parking, a vehicle may be driven to travel along a route desired to be parked, and during driving to park in a parking space, the environment around the vehicle is collected in real time by various sensors such as a radar And a camera arranged around the vehicle body, and a parking map for Simultaneous Localization And Mapping (SLAM) is generated.
Further, based on the obtained parking map, the vehicle is parked in and out of the parking spaces meeting the parking conditions, so that the parking spaces are learned and memorized.
Obviously, by adopting the memory parking method, the learning and the memory of the parking spaces can be realized only after the vehicle is parked in and out of the corresponding parking space, so that a large amount of time is required, and the memory parking efficiency is reduced.
Therefore, the efficiency of memory parking is low in the manner described above.
Disclosure of Invention
The embodiment of the application provides a parking memory method, a parking memory device, electronic equipment and a storage medium, which are used for improving the parking memory efficiency.
In a first aspect, an embodiment of the present application provides a method for memorizing parking, where the method includes:
responding to the memory parking of the vehicle, acquiring the respective position range of each original parking space in the parking environment of the vehicle, and acquiring the initial coordinate position of the vehicle;
when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until a target parking space meeting preset parking conditions exists in a parking space searching range set for the vehicle;
and screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
In a second aspect, an embodiment of the present application further provides a parking memory device, where the parking memory device includes:
the acquisition module is used for responding to the memory parking of the vehicle, acquiring the respective position range of each original parking space in the parking environment of the vehicle and acquiring the initial coordinate position of the vehicle;
the system comprises a searching module, a parking space searching module and a parking space searching module, wherein the searching module is used for driving a vehicle when determining a coordinate position set corresponding to each position range and not containing an initial coordinate position until a target parking space meeting a preset parking condition exists in a parking space searching range set for the vehicle;
and the generating module is used for screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
In a possible embodiment, when the target parking space is screened out from at least one original parking space in the parking space search range, the search module is specifically configured to:
receiving a parking space selection request sent by a target terminal, and acquiring identification information of a target parking space from the parking space selection request;
and screening out the target parking spaces matched with the identification information from at least one original parking space.
In a possible embodiment, after screening out the target parking space from at least one original parking space within the parking space search range, the generating module is further configured to:
receiving a target coordinate position of a driving-away destination sent by a target terminal;
and generating a corresponding vehicle parking route based on the target parking space and the target coordinate position of the driving away destination.
In one possible embodiment, after generating the corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space, the search module is further configured to:
if a parking instruction of a target terminal is received, parking the vehicle into a target parking space based on a vehicle parking route;
and if the parking instruction of the target terminal is not successfully received, the vehicle is not parked in the target parking space.
In a possible embodiment, the generation module is further configured to:
if a coordinate position set containing the initial coordinate position exists in the coordinate position sets corresponding to the position ranges, driving the vehicle to leave an original parking space corresponding to the coordinate position set containing the initial coordinate position;
when the driving distance of the vehicle is determined to reach a preset moving distance threshold value, braking the vehicle to enable the vehicle to be in a static state, and receiving a target coordinate position of a driving destination sent by a target terminal when the vehicle is determined to be in the static state;
and generating a corresponding vehicle parking route based on the original parking space and the target coordinate position of the driving destination.
In a third aspect, an electronic device is proposed, which comprises a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor is enabled to execute the steps of the memory parking method according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, which includes program code for causing an electronic device to perform the steps of the memory parking method according to the first aspect when the program code runs on the electronic device.
In a fifth aspect, a computer program product is provided, which, when called by a computer, causes the computer to execute the steps of the memory parking method according to the first aspect.
The beneficial effect of this application is as follows:
in the memory parking method provided by the embodiment of the application, in response to the memory parking of the vehicle, the respective position range of each original parking space in the parking environment of the vehicle is obtained, and the initial coordinate position of the vehicle is obtained; further, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until target parking spaces meeting preset parking conditions exist in a parking space search range set for the vehicle; and finally, screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
By adopting the mode, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, the vehicle is driven until the target parking spaces meeting the preset parking conditions exist in the parking space searching range set for the vehicle, then the target parking spaces are screened out from at least one original parking space in the parking space searching range, and the corresponding vehicle parking route is generated based on the current coordinate positions and the target parking spaces of the vehicle, so that the technical defects that the learning and the memory of the parking spaces can be realized only after the vehicle is parked in and out of the corresponding parking spaces in the prior art are avoided, and the efficiency of memorizing and parking is improved.
Furthermore, other features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. In the drawings:
fig. 1 is a schematic diagram illustrating an alternative application scenario applicable to the embodiment of the present application;
FIG. 2 is a schematic diagram illustrating an exemplary architecture of a memory parking system according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating a parking memory method according to an embodiment of the present application;
fig. 4 exemplarily illustrates a schematic diagram of a specific application scenario for acquiring location information according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a specific application scenario of controlling a vehicle to stop based on a target parking space according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a specific application scenario for generating a vehicle parking route according to an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating an exemplary application scenario for generating a vehicle exit route according to an embodiment of the present application;
FIG. 8 is a flow chart illustrating a method for generating a vehicle parking route according to an embodiment of the present application;
fig. 9 is a schematic flowchart illustrating a parking space search-based method for memory parking according to an embodiment of the present application;
fig. 10 is a schematic structural diagram illustrating a memory parking device according to an embodiment of the present application;
fig. 11 schematically illustrates a structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the technical solutions of the present application. All other embodiments obtained by a person skilled in the art without any inventive step based on the embodiments described in the present application are within the scope of the protection of the present application.
It should be noted that "a plurality" is understood as "at least two" in the description of the present application. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. A is connected with B and can represent: a and B are directly connected and A and B are connected through C. In addition, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
First, the following briefly introduces the design ideas of the embodiments of the present application:
at present, memory parking is widely applied to passenger-assistant parking as the highest-level function of parking, however, in the prior art, the learning and the memory of parking spaces can be realized only after vehicles are parked in and out of the corresponding parking spaces in the parking spaces with different strategies, which results in a large amount of time being spent, and further reduces the efficiency of memory parking.
For example, in an indoor parking lot, if learning of each parking space is to be realized, vehicles need to be parked in and out of each parking space one by one, so that a lot of time is required for learning of a large number of parking spaces in the indoor parking lot, and the efficiency of memory parking is reduced.
In view of this, in order to improve the efficiency of memory parking, the embodiment of the present application provides a memory parking method, which specifically includes: responding to the memory parking of the vehicle, acquiring the position range of each original parking space in the parking environment of the vehicle, and acquiring the initial coordinate position of the vehicle; further, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until target parking spaces meeting preset parking conditions exist in a parking space search range set for the vehicle; and finally, screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
In particular, preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it being understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the features of the embodiments and examples of the present application may be combined with each other without conflict.
Referring to fig. 1, a schematic diagram of an optional application scenario provided in the embodiment of the present application is shown, where the application scenario includes: the system comprises a target terminal 101, a server 102 and a vehicle 103, wherein the target terminal 101 and the server 102, and the vehicle 103 and the server 102 can perform information interaction through a communication network, and the communication mode adopted by the communication network can comprise: wireless communication and wired communication.
Illustratively, the server 102 may communicate with the target terminal 101 and the vehicle 103 via a cellular Mobile communication technology access network, wherein the cellular Mobile communication technology includes a fifth Generation Mobile networks (5 g) technology.
Optionally, the server 102 may access a network through a short-range Wireless communication mode to communicate with the target terminal 101 and the vehicle 103, where the short-range Wireless communication mode includes a Wireless Fidelity (Wi-Fi) technology.
It is understood that, in practical situations, the number of the intelligent driving vehicles and the servers that can be included in the application scenario may also be any number specified, and this application does not limit this number at all.
The target terminal 101 is a device that can provide voice and/or data connectivity to a user, and includes: a hand-held terminal device, a vehicle-mounted terminal device, etc. having a wireless connection function.
Illustratively, the target terminal 101 includes, but is not limited to: the mobile terminal device comprises a mobile phone, a tablet computer, a notebook computer, a palm computer, a mobile internet device, a wearable device, a virtual reality device, an augmented reality device, a wireless terminal device in industrial control, a wireless terminal device in unmanned driving, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home and the like.
Furthermore, the target terminal 101 may have a relevant client installed thereon, and the client may be software (e.g., an application program, a browser, short video software, etc.), or a web page, an applet, or the like. In the embodiment of the present application, the target terminal 101 may send a parking space selection request, a target coordinate position of a departure destination, and a parking instruction to the server 102.
The server 102 may be an independent physical server, may also be a server cluster or a distributed system formed by a plurality of physical servers, and may also be a cloud server that provides basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content Delivery Network (CDN), big data, and an artificial intelligence platform.
It is worth mentioning that, in the embodiment of the present application, the server 102 is configured to obtain, in response to the memory parking of the vehicle, a respective position range of each original parking space in the parking environment where the vehicle is located, and obtain an initial coordinate position of the vehicle; further, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until a target parking space meeting preset parking conditions exists in a parking space searching range set for the vehicle; and finally, screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
The vehicle 103 is any drivable vehicle with an intelligent driving mode, and optionally, as shown in fig. 2, a memory parking system 20 may be mounted in the vehicle 103, and the memory parking system specifically includes: the system comprises a perception sensor 201, a parking controller 202, a high-precision positioning module 203, an associated system signal module 204 and a vehicle body control module 205.
The memory parking method provided by the exemplary embodiment of the present application is described below with reference to the above system architecture and the accompanying drawings, it should be noted that the above system architecture is only shown for the convenience of understanding the spirit and principle of the present application, and the embodiment of the present application is not limited in this respect.
Referring to fig. 3, which is a flowchart illustrating an implementation of a method for memorizing parking of an embodiment of the present application, taking an execution subject as a server as an example, the method is implemented as follows:
s301: and responding to the memory parking of the vehicle, acquiring the position range of each original parking space in the parking environment of the vehicle, and acquiring the initial coordinate position of the vehicle.
Specifically, in step S301, the memory parking system of the vehicle may control the vehicle to enter the memory parking state when the vehicle is at the start position of memory parking, for example, when the vehicle is at the entrance of the parking lot, the memory parking system may instruct the vehicle to enter the memory parking state.
For example, the user may manually instruct the vehicle to enter memory parking, for example, the user may instruct the vehicle to enter memory parking by means of an on-board display screen, a terminal client, an on-board remote controller, and the like.
Optionally, when the vehicle travels to a parking position indicated by a certain instruction, if the parking position does not meet a preset parking condition, the current position of the vehicle may also be used as the initial position of the memory parking, so that the memory parking system indicates that the vehicle enters the memory parking when the initial position is reached.
Further, the server responds to the memory parking of the vehicle and obtains the position state information of each target in the parking environment of the vehicle; specifically, the targets may be any obstacle in the parking environment, such as a person, a vehicle, an animal, or the like, or each original parking space, and in the embodiment of the present application, for each target existing in the environment, the position state information of each target may be obtained by a perception sensor mounted on the vehicle and/or an environment sensor configured in the parking environment.
Referring to fig. 4, the server may accurately obtain the position state information of each original parking space in the parking environment of the vehicle, for example, the respective position range of each original parking space; further, the start position (i.e., the initial coordinate position) of the vehicle may be acquired by a high-precision positioning module mounted on the vehicle.
S302: and when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until a target parking space meeting the preset parking condition exists in the parking space searching range set for the vehicle.
Specifically, in step S302, after obtaining the respective position ranges of the original parking spaces and the initial coordinate positions of the vehicles, the server may determine whether the vehicles are located in the original parking spaces, and if it is determined that each coordinate position set does not include the initial coordinate position, the server may drive the vehicles to move forward, so as to search for the surrounding original parking spaces in real time until it is determined that a target parking space meeting the preset parking condition exists within the parking space search range set by the vehicles.
For example, as shown in fig. 5, when determining that each coordinate position set does not include an initial coordinate position, the server drives the vehicle to move forward, searches for a target parking space according to a parking space search range of the vehicle (for example, with the vehicle as a center of circle and a search radius of 20 m) and in combination with a preset parking condition, and further determines that a target parking space meeting the preset parking condition exists within the parking space search range, controls the vehicle to stop.
Optionally, if a target parking space meeting the preset parking condition is detected in the initial coordinate position of the vehicle and the corresponding parking space search range, the vehicle is driven to move forward without determining each coordinate position set and without including the initial coordinate position.
S303: and screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
Specifically, when step S303 is executed, the server may screen out a target parking space matched with the identification information from at least one original parking space within the acquired parking space search range according to a received parking space selection request sent by the target terminal, where the parking space selection request includes the identification information of the target parking space.
For example, when a target parking space meeting a preset parking condition exists in a parking space search range set by a vehicle, a server obtains at least one original parking space, and taking 5 original parking spaces as an example, each original parking space and identification information corresponding to each original parking space are shown in table 1:
TABLE 1
| Original parking space | Ori.Park1 | Ori.Park2 | Ori.Park3 | Ori.Park4 | Ori.Park5 |
| Identification information | A.23 | C.14 | B.32 | A.24 | B.29 |
Based on the table, the server determines that the identification information of the target parking space is "b.32" from the parking space selection request sent by the target terminal, and then determines that the target parking space is ori.park3 according to the corresponding relationship between the original parking space and the identification information, and optionally, the original parking space determined as the target parking space may also be denoted as tar.
Optionally, the server may also screen out a target parking space meeting a preset parking condition from at least one original parking space within the obtained parking space search range according to the selection of the driver based on the correspondence between the original parking space and the identification information.
Further, referring to fig. 6, after the server screens out the target parking space from the at least one original parking space, the server may generate a corresponding vehicle parking route according to the current coordinate position of the vehicle and the target coordinate position of the target parking space, based on the current coordinate position of the vehicle and the target coordinate position of the target parking space, in combination with an environment map of a parking environment, where it is to be noted that one vehicle parking route may be generated, and a plurality of vehicle parking routes may also be generated.
In one possible implementation manner, after the server screens out the target parking space from at least one original parking space in the parking space searching range, the server continues to learn the parking vehicle exit route from the target parking space to the pick-up point (i.e., the driving destination).
For example, referring to fig. 7, if the target coordinate position of the driving-away destination sent by the target terminal is received, it indicates that the parking route from the target parking space to the driving-receiving point needs to be continuously learned, and a corresponding vehicle parking route may be generated based on the target parking space and the target coordinate position of the driving-away destination.
In a possible implementation manner, referring to fig. 8, which is a flowchart of an implementation of a method for generating a vehicle parking route according to an embodiment of the present application, the method includes the following specific steps:
s801: and if the coordinate position set containing the initial coordinate position exists in the coordinate position sets corresponding to the position ranges, driving the vehicle to leave the original parking space corresponding to the coordinate position set containing the initial coordinate position.
Specifically, in step S801, after acquiring the respective position ranges of the respective origin parking spaces and the initial coordinate positions of the vehicles, the server determines whether the vehicles are located in the respective origin parking spaces, and drives the vehicles to leave the origin parking spaces corresponding to the coordinate position sets including the initial coordinate positions if the coordinate position sets including the initial coordinate positions exist in the coordinate position sets corresponding to the respective position ranges, thereby performing learning of the vehicle parking routes from the subsequent parking spaces to the driving destination.
S802: when the driving distance of the vehicle is determined to reach a preset moving distance threshold value, the vehicle is braked so as to be in a static state, and the target coordinate position of the driving destination sent by the target terminal is received when the vehicle is determined to be in the static state.
Specifically, when step S802 is executed, the server records the driving distance of the vehicle in real time while driving the vehicle away from the original parking space corresponding to the coordinate position set including the initial coordinate position, and determines a magnitude relationship between the driving distance of the vehicle and a preset moving distance threshold, so that when the driving distance of the vehicle is determined and reaches the preset moving distance threshold, the vehicle is braked to ensure that the vehicle is in a stopped state, and then when the vehicle is determined to be in a stationary state, the server receives the target coordinate position of the destination, which is sent by the target terminal, of the vehicle.
Examples of the inventionFor the sake of convenience, assume that the preset moving distance threshold is a straight-line distance between the current position of the vehicle and the corresponding original parking space of 1m, which is recorded as D Y =1m, therefore, if the driving distance of the vehicle is recorded in real time as D I Upon reaching the movement distance threshold D Y And =1m, the vehicle may be braked to bring the vehicle to a stationary state, and the target coordinate position of the departure destination transmitted by the target terminal may be received when the vehicle is determined to be in the stationary state.
S803: and generating a corresponding vehicle parking route based on the original parking space and the target coordinate position of the driving destination.
It should be noted that, in the embodiment of the present application, there is no limitation on the number of generated vehicle parking routes based on the target coordinate positions of the original parking space and the departure destination.
The memory parking method provided by the embodiment of the application can not only avoid the process that a user parks in a parking space and solve the problem that the user is difficult to park, but also can establish a parking route and a parking route at one time, and can also establish the parking route or the parking route independently, thereby providing more choices for the user.
Further, after the server generates the corresponding vehicle parking route, if a parking instruction of the target terminal is received, the server parks the vehicle into the target parking space based on the vehicle parking route, namely, corresponding parking space parking action is executed; if the parking instruction of the target terminal is not successfully received, the vehicle is not parked in the target parking space, namely, the corresponding parking space parking action is not executed.
Fig. 9 is a schematic flow chart of a parking memory method based on parking space search according to an embodiment of the present application, where the method includes the following specific steps:
s901: triggering the creation of a route.
The route is triggered and created in a mode that a user adopts voice/key pressing and the like, and the memory parking function of the vehicle is allowed to be started.
S902: is the vehicle in a parking space? If not, the step goes to S903; if so, the process proceeds to S913.
The judgment of whether the vehicle is in the parking space is to distinguish whether the user wants to establish a vehicle parking route or a vehicle parking route.
S903: is a target parking space available for parking searched? If yes, go to S904; if not, the vehicle moves forward and S903 is executed until a target parking space capable of being parked is searched.
Specifically, when step S903 is executed, the number of the initialized parking space detections is equal to 0, the driving distance is equal to 0, and it is determined whether a target parking space that can be parked can be searched for, and the rule and the record information are continuously cleared according to the deduction algorithm. If the vehicle is not in the parking space, the vehicle parking route needs to be created, and at the moment, a user is prompted to drive to the parking space to finish route memory; if the vehicle is in the parking space, the vehicle parking route needs to be created, and at the moment, the user is prompted to drive to the end point (namely the driving receiving point) of the vehicle parking route.
S904: is it judged whether the vehicle is stationary and there are available parking spaces? If yes, the step goes to S905; if not, the process goes to step S903 until a target parking space capable of being parked is searched.
Specifically, when step S904 is executed, the user is prompted to "select a memory parking space after braking", and it is determined whether the vehicle is stationary and has an available parking space, and the vehicle is braked and has an available parking space, where it is noted that the available parking space includes a target parking space.
S905: is the target parking space confirmed? If yes, go to S906; if not, go to S904 until it is determined that the vehicle is stationary and there are available slots.
S906: determine whether to continue learning a route from a parking space to a pickup point? If yes, the procedure goes to S907; if not, the process proceeds to S909 and S911.
S907: is it judged whether the vehicle is stationary? If yes, go to S908; if not, S907 is executed until it is determined that the vehicle is in a stationary state.
Optionally, when S907 is executed, after X1 second, the vehicle may be braked to be in a stationary state according to the prompt.
S908: is it judged whether a pickup point has been confirmed? If yes, the process proceeds to S909, and if no, S907 is executed until the drive receiving point is confirmed.
S909: is the route generation determined to be successful? If yes, go to S910a; if not, the process proceeds to S910b.
S910a: the route generation is successful.
S910b: the route generation fails.
S911: is the vehicle parked in the parking space? If yes, the process goes to S912a; if not, the process proceeds to S912b.
S912a: and executing parking space parking action.
S912b: the parking space parking action is not executed.
S913: is the vehicle moving X meters? If yes, the process goes to S907; if not, the process proceeds to S902.
Based on the steps of the method, a memory parking scheme with Human Machine Interface (HMI) interactive logic and without parking space parking is provided, and by introducing a parking space searching algorithm, the recognition rate of the parking space is improved, the error recognition rate of the parking space is reduced, and the recognition anti-jamming capability of the parking space is improved.
In summary, in the memory parking method provided by the embodiment of the present application, in response to the memory parking of the vehicle, the respective position ranges of the original parking spaces in the parking environment of the vehicle are obtained, and the initial coordinate position of the vehicle is obtained; further, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, driving the vehicle until target parking spaces meeting preset parking conditions exist in a parking space search range set for the vehicle; and finally, screening out a target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
By adopting the mode, when the coordinate position sets corresponding to the position ranges are determined and do not contain the initial coordinate positions, the vehicle is driven until the target parking spaces meeting the preset parking conditions exist in the parking space searching range set for the vehicle, then the target parking spaces are screened out from at least one original parking space in the parking space searching range, and the corresponding vehicle parking route is generated based on the current coordinate positions and the target parking spaces of the vehicle, so that the technical defects that the learning and the memory of the parking spaces can be realized only after the vehicle is parked in and out of the corresponding parking spaces in the prior art are avoided, and the efficiency of memorizing and parking is improved.
Further, based on the same technical concept, the embodiment of the present application further provides a memory parking device, which is used for implementing the above-mentioned memory parking method flow of the embodiment of the present application. Referring to fig. 10, the memory parking device includes: an obtaining module 1001, a searching module 1002, and a generating module 1003, wherein:
the obtaining module 1001 is configured to obtain, in response to memory parking of a vehicle, a position range of each original parking space in a parking environment where the vehicle is located, and obtain an initial coordinate position of the vehicle;
the search module 1002 is configured to, when it is determined that the coordinate position sets corresponding to the respective position ranges do not include the initial coordinate position, drive the vehicle until a target parking space meeting a preset parking condition exists within a parking space search range set for the vehicle;
the generating module 1003 is configured to screen out a target parking space from at least one original parking space in the parking space search range, and generate a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
In a possible embodiment, when the target parking space is screened out from at least one original parking space in the parking space search range, the search module 1002 is specifically configured to:
receiving a parking space selection request sent by a target terminal, and acquiring identification information of a target parking space from the parking space selection request;
and screening out the target parking spaces matched with the identification information from at least one original parking space.
In a possible embodiment, after screening out the target parking space from at least one original parking space in the parking space search range, the generating module 1003 is further configured to:
receiving a target coordinate position of a driving-away destination sent by a target terminal;
and generating a corresponding vehicle parking route based on the target parking space and the target coordinate position of the driving away destination.
In a possible embodiment, after generating the corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space, the search module 1002 is further configured to:
if a parking instruction of a target terminal is received, parking the vehicle into a target parking space based on a vehicle parking route;
and if the parking instruction of the target terminal is not successfully received, the vehicle is not parked in the target parking space.
In a possible embodiment, the generating module 1003 is further configured to:
if the coordinate position set containing the initial coordinate position exists in the coordinate position set corresponding to each position range, driving the vehicle away from the original parking space corresponding to the coordinate position set containing the initial coordinate position;
when the driving distance of the vehicle is determined and reaches a preset moving distance threshold value, braking the vehicle to enable the vehicle to be in a static state, and receiving a target coordinate position of a driving-away destination sent by a target terminal when the vehicle is determined to be in the static state;
and generating a corresponding vehicle parking route based on the original parking space and the target coordinate position of the departure destination.
Based on the same technical concept, the embodiment of the application further provides the electronic device, and the electronic device can realize the parking memory method and the parking memory method provided by the embodiment of the application. In one embodiment, the electronic device may be a server, a terminal device, or other electronic device. As shown in fig. 11, the electronic device may include:
at least one processor 1101, and a memory 1102 connected to the at least one processor 1101, in this embodiment, a specific connection medium between the processor 1101 and the memory 1102 is not limited in this application, and fig. 11 illustrates an example in which the processor 1101 and the memory 1102 are connected through a bus 1100. The bus 1100 is shown in fig. 11 by a thick line, and the connection manner between other components is merely illustrative and not limited thereto. The bus 1100 may be divided into an address bus, a data bus, a control bus, etc., and is shown in fig. 11 with only one thick line for ease of illustration, but does not represent only one bus or type of bus. Alternatively, processor 1101 can also be referred to as a controller, and not by way of limitation.
In the present embodiment, the memory 1102 stores instructions executable by the at least one processor 1101, and the at least one processor 1101 executes the instructions stored in the memory 1102 to perform a memory parking method as discussed above. The processor 1101 may implement the functions of the various modules in the apparatus shown in fig. 10.
The processor 1101 is a control center of the apparatus, and may connect various parts of the entire control device by using various interfaces and lines, and perform various functions of the apparatus and process data by operating or executing instructions stored in the memory 1102 and calling data stored in the memory 1102, thereby performing overall monitoring of the apparatus.
In one possible design, the processor 1101 may include one or more processing units, and the processor 1101 may integrate an application processor, which primarily handles operating systems, user interfaces, application programs, and the like, and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1101. In some embodiments, the processor 1101 and the memory 1102 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 1101 may be a general purpose processor such as a CPU, digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the memory parking method disclosed in the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
The memory 1102, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 1102 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charged Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 1102 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 1102 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function to store program instructions and/or data.
The processor 1101 is programmed to consolidate the code corresponding to a memory parking method described in the foregoing embodiments into a chip, so that the chip can execute the steps of a memory parking method of the embodiment shown in fig. 3 when running. How processor 1101 is programmed is well known to those skilled in the art and will not be described in detail herein.
Based on the same inventive concept, the present application further provides a storage medium storing computer instructions, which when executed on a computer, cause the computer to execute a memory parking method as discussed above.
In some possible embodiments, the present application provides that the various aspects of a memory parking method may also be implemented in the form of a program product comprising program code means for causing a control device to carry out the steps of a memory parking method according to various exemplary embodiments of the present application described above in the present specification, when said program product is run on an apparatus.
Further, while the operations of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
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.
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.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A memory parking method, comprising:
responding to memory parking of a vehicle, acquiring the position range of each original parking space in the parking environment of the vehicle, and acquiring the initial coordinate position of the vehicle;
when the coordinate position sets corresponding to the position ranges are determined and the initial coordinate positions are not contained, driving the vehicle until target parking spaces meeting preset parking conditions exist in a parking space searching range set for the vehicle;
and screening the target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
2. The method of claim 1, wherein said screening out said target space from at least one original space within said space search range comprises:
receiving a parking space selection request sent by a target terminal, and acquiring identification information of the target parking space from the parking space selection request;
and screening out a target parking space matched with the identification information from the at least one original parking space.
3. The method according to claim 1, wherein after the target parking space is screened out from at least one original parking space in the parking space search range, the method further comprises:
receiving a target coordinate position of a driving-away destination sent by a target terminal;
and generating a corresponding vehicle parking route based on the target parking space and the target coordinate position of the driving destination.
4. The method of any one of claims 1-3, wherein after generating the respective vehicle parking route based on the current coordinate location of the vehicle and the target slot, further comprising:
if a parking instruction of a target terminal is received, parking the vehicle into the target parking space based on the vehicle parking route;
and if the parking instruction of the target terminal is not successfully received, the vehicle is not parked in the target parking space.
5. The method of claim 1, wherein the method further comprises:
if a coordinate position set containing the initial coordinate position exists in the coordinate position sets corresponding to the position ranges, driving the vehicle away from an original parking space corresponding to the coordinate position set containing the initial coordinate position;
when the driving distance of the vehicle is determined to reach a preset moving distance threshold value, braking the vehicle to enable the vehicle to be in a static state, and receiving a target coordinate position of a driving destination sent by a target terminal when the vehicle is determined to be in the static state;
and generating a corresponding vehicle parking route based on the original parking space and the target coordinate position of the departure destination.
6. A memory parking device, comprising:
the acquisition module is used for responding to memory parking of a vehicle, acquiring the respective position range of each original parking space in the parking environment of the vehicle, and acquiring the initial coordinate position of the vehicle;
the search module is used for driving the vehicle when the coordinate position sets corresponding to the position ranges are determined and the initial coordinate positions are not included, until a target parking space meeting preset parking conditions exists in a parking space search range set for the vehicle;
and the generating module is used for screening out the target parking space from at least one original parking space in the parking space searching range, and generating a corresponding vehicle parking route based on the current coordinate position of the vehicle and the target parking space.
7. The apparatus of claim 6, wherein when the target parking space is screened out from at least one original parking space in the parking space search range, the search module is specifically configured to:
receiving a parking space selection request sent by a target terminal, and acquiring identification information of the target parking space from the parking space selection request;
and screening out a target parking space matched with the identification information from the at least one original parking space.
8. The apparatus of claim 6, wherein after said screening out the target slot from at least one original slot within the slot search range, said generation module is further configured to:
receiving a target coordinate position of a driving-away destination sent by a target terminal;
and generating a corresponding vehicle parking route based on the target parking space and the target coordinate position of the driving destination.
9. The apparatus of any one of claims 6-8, wherein after the generating a respective vehicle parking route based on the current coordinate location of the vehicle and the target slot, the search module is further to:
if a parking instruction of a target terminal is received, parking the vehicle into the target parking space based on the vehicle parking route;
and if the parking instruction of the target terminal is not successfully received, the vehicle is not parked in the target parking space.
10. The apparatus of claim 6, wherein the generation module is further to:
if a coordinate position set containing the initial coordinate position exists in the coordinate position sets corresponding to the position ranges, driving the vehicle away from an original parking space corresponding to the coordinate position set containing the initial coordinate position;
when the driving distance of the vehicle is determined to reach a preset moving distance threshold value, braking the vehicle to enable the vehicle to be in a static state, and receiving a target coordinate position of a driving destination sent by a target terminal when the vehicle is determined to be in the static state;
and generating a corresponding vehicle parking route based on the original parking space and the target coordinate position of the driving destination.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-5 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN202211020858.5A CN115352435A (en) | 2022-08-24 | 2022-08-24 | Parking memory method, parking memory device, electronic equipment and storage medium |
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| CN202211020858.5A CN115352435A (en) | 2022-08-24 | 2022-08-24 | Parking memory method, parking memory device, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116052468A (en) * | 2023-03-29 | 2023-05-02 | 禾多科技（北京）有限公司 | Method and device for determining position information, storage medium and electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116052468A (en) * | 2023-03-29 | 2023-05-02 | 禾多科技（北京）有限公司 | Method and device for determining position information, storage medium and electronic device |
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