CN116198488A - Parking method, device, equipment and storage medium - Google Patents

Parking method, device, equipment and storage medium Download PDF

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Publication number
CN116198488A
CN116198488A CN202310317329.XA CN202310317329A CN116198488A CN 116198488 A CN116198488 A CN 116198488A CN 202310317329 A CN202310317329 A CN 202310317329A CN 116198488 A CN116198488 A CN 116198488A
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China
Prior art keywords
vehicle
parking space
door
opened
target
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CN202310317329.XA
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Chinese (zh)
Inventor
杨峰
付应
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202310317329.XA priority Critical patent/CN116198488A/en
Publication of CN116198488A publication Critical patent/CN116198488A/en
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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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a parking method, a device, equipment and a storage medium, wherein the method comprises the following steps: receiving a parking instruction, wherein the parking instruction comprises target parking space information; judging whether a vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space according to the target parking space information; if the vehicle can be opened to the threshold value of the opening degree of the vehicle door after the vehicle is parked in the target parking space, controlling the vehicle to be parked in the target parking space; if the vehicle cannot be opened to the threshold value of the opening degree of the vehicle door after the vehicle is parked in the target parking space, determining a target position, controlling the vehicle to travel to the target position, stopping traveling, and sending out a prompting signal, wherein the prompting signal is used for prompting a driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold; and controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the vehicle key. The invention can avoid the limitation of the space for drivers to get off and the risk of collision and scratch of the vehicle doors, and improves the utilization rate of automatic parking.

Description

Parking method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of automobiles, in particular to a parking method, a parking device, parking equipment and a storage medium.
Background
In recent years, along with technological progress, the application of an automatic driving function is wider, wherein the automatic parking function is iteratively updated from semi-automatic parking in a primary stage to a middle-high order product form integrating full scene parking, remote control parking, memory parking and traveling parking, but the current intelligent parking product is not convenient enough in function, lacks humanized consideration, is easy to cause tiredness and boring mind of a user, reduces the enthusiasm of the user for using the intelligent parking function, and also reduces the use rate of the intelligent parking function.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention are directed to providing a lane line detection method, apparatus, electronic device, and storage medium that overcome or at least partially solve the foregoing problems.
In order to solve the above problems, an embodiment of the present invention discloses a parking method applied to an automatic parking assistance system, the method comprising:
receiving a parking instruction, wherein the parking instruction comprises target parking space information;
judging whether a vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space according to the target parking space information;
if the vehicle can be opened to a threshold value of the opening degree of the vehicle door after being parked in the target parking space, controlling the vehicle to be parked in the target parking space;
If the vehicle is parked in the target parking space and the vehicle door cannot be opened to the threshold value of the opening of the vehicle door, determining a target position, controlling the vehicle to travel to the target position, stopping the vehicle, and sending out a prompt signal, wherein the prompt signal is used for prompting the driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold;
and controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the vehicle key.
Optionally, the determining, according to the target parking space information, whether the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space includes:
detecting whether a parking space line exists in the target parking space according to the target parking space information;
when a parking space line exists in the target parking space, acquiring the single-side width and the vehicle width of the parking space line, wherein the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the central line of the target parking space;
acquiring a door opening threshold value, and calculating an average value of the vehicle width and the door opening threshold value;
and if the single-side width of the parking space line is larger than the average value, determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space.
Optionally, the determining, according to the target parking space information, whether the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space further includes:
if the single-side width of the parking space line is larger than the single-side width threshold value and smaller than or equal to the average value, determining that the vehicle door cannot be opened to the door opening threshold value after the vehicle is parked in the target parking space.
Optionally, the determining, according to the target parking space information, whether the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space further includes:
when the target parking space has no parking space line, detecting whether barriers exist on two sides of the target parking space;
if obstacles exist on two sides of the target parking space, acquiring a single-side width between the left obstacle and the right obstacle; the unilateral width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the central boundary line of the two side obstacles;
and if the single-side width between the left obstacle and the right obstacle is larger than the average value, determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space.
Optionally, the determining, according to the target parking space information, whether the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space further includes:
And if the barrier exists on one side of the target parking space or the target parking space is free of the barrier, determining that the vehicle door can be opened to a threshold value of the door opening after the vehicle is parked in the target parking space.
The invention also discloses a parking method applied to the automatic parking auxiliary system, which comprises the following steps:
receiving a parking instruction, wherein the parking instruction comprises parking space information of a parking space where a vehicle is located;
judging whether a vehicle door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space where the vehicle is located;
if the vehicle door of the vehicle can be opened to a door opening threshold value, controlling the vehicle to park out from a parking space where the vehicle is located;
if the door of the vehicle cannot be opened to the door opening threshold, determining a target position, controlling the vehicle to move straight to the target position, stopping driving, and informing a driver to get on the vehicle to take over the vehicle; the target position is a position where the door can be opened to a door opening threshold.
Optionally, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold includes:
detecting whether an obstacle exists around the vehicle according to the parking space information of the parking space where the vehicle is located;
And if no obstacle exists right in front of, on the left side of and on the right side of the vehicle, determining that the door of the vehicle can be opened to a door opening threshold value.
Optionally, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold value further includes:
and if the obstacle exists right in front of the vehicle, sending out prompt information, wherein the prompt information is used for prompting a driver that the vehicle cannot be parked out.
Optionally, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold value further includes:
if no obstacle exists right in front of the vehicle and the left side and the right side of the vehicle are provided with obstacles, acquiring the transverse distance between the left side obstacle and the right side obstacle of the vehicle, wherein the transverse distance between the left side obstacle and the right side obstacle of the vehicle is the sum of the distance from the left side obstacle to the left side of the vehicle and the distance from the right side obstacle to the right side of the vehicle;
and if the transverse distance between the left obstacle and the right obstacle of the vehicle is greater than the preset distance, determining that the door of the vehicle can be opened to a door opening threshold value.
Optionally, judging whether a door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space where the vehicle is located, and further including;
and if the transverse distance between the left obstacle and the right obstacle of the vehicle is larger than the minimum safety distance and smaller than the preset distance, determining that the door of the vehicle cannot be opened to a door opening threshold.
The invention also discloses a device for parking, which is applied to an automatic parking auxiliary system, and comprises:
the first receiving module is used for receiving a parking instruction, wherein the parking instruction comprises target parking space information;
the first judging module is used for judging whether the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space according to the target parking space information;
the first control module is used for controlling the vehicle to be parked in the target parking space if the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space;
the determining module is used for determining a target position if the vehicle door cannot be opened to a door opening threshold after the vehicle is parked in the target parking space, controlling the vehicle to travel to the target position, stopping the travel, and sending a prompt signal, wherein the prompt signal is used for prompting the driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold;
And the second control module is used for controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the vehicle key.
Optionally, the first judging module includes:
the first detection submodule is used for detecting whether a target parking space has a parking space line or not according to the target parking space information;
the first acquisition submodule is used for acquiring the unilateral width and the vehicle width of the parking space line when the parking space line exists in the target parking space, wherein the unilateral width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the central line of the target parking space;
the calculating submodule is used for obtaining a door opening threshold value and calculating an average value of the vehicle width and the door opening threshold value;
and the first determining submodule is used for determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space if the unilateral width of the parking space line is larger than the average value.
Optionally, the first judging module further includes:
and the second determining submodule is used for determining that the vehicle door cannot be opened to the door opening threshold after the vehicle is parked in the target parking space if the single-side width of the parking space line is larger than the single-side width threshold and smaller than or equal to the average value.
Optionally, the first judging module further includes:
the second detection submodule is used for detecting whether barriers exist on two sides of the target parking space when the target parking space is free of parking space lines;
the second acquisition submodule is used for acquiring the unilateral width between the left obstacle and the right obstacle if the obstacles exist on two sides of the target parking space; the unilateral width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the central boundary line of the two side obstacles;
and the third determining submodule is used for determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space if the single-side width between the left obstacle and the right obstacle is larger than the average value.
Optionally, the first judging module further includes:
and the fourth determining submodule is used for determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space if an obstacle exists on one side of the target parking space or the target parking space is free of the obstacle.
The invention also discloses a device for parking, which is applied to an automatic parking auxiliary system, and comprises:
The second receiving module is used for receiving a parking instruction, wherein the parking instruction comprises parking space information of a parking space where the vehicle is located;
the second judging module is used for judging whether the vehicle door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space where the vehicle is located;
the third control module is used for controlling the vehicle to park out of a parking space where the vehicle is located if the door of the vehicle can be opened to a door opening threshold value;
the notification module is used for determining a target position if the door of the vehicle cannot be opened to a door opening threshold value, controlling the vehicle to move straight to the target position, stopping driving, and notifying a driver to get on the vehicle to take over the vehicle; the target position is a position where the door can be opened to a door opening threshold.
Optionally, the second judging module includes:
the third detection submodule is used for detecting whether an obstacle exists around the vehicle according to the parking space information of the parking space where the vehicle is located;
and a fifth determining submodule, configured to determine that a door of the vehicle can be opened to a door opening threshold if no obstacle exists right in front of, on the left side of, and on the right side of the vehicle.
Optionally, the second judging module further includes:
and the sending sub-module is used for sending prompt information if an obstacle exists right in front of the vehicle, and the prompt information is used for prompting a driver that the vehicle cannot be parked out.
Optionally, the second judging module further includes:
a third obtaining submodule, configured to obtain a lateral distance between a left side obstacle and a right side obstacle of the vehicle if no obstacle exists right in front of the vehicle and both the left side and the right side have obstacles, where the lateral distance between the left side obstacle and the right side obstacle of the vehicle is a sum of a distance from the left side obstacle to the left side of the vehicle and a distance from the right side obstacle to the right side of the vehicle;
and a sixth determining submodule, configured to determine that a door of the vehicle can be opened to a door opening threshold value if a lateral distance between a left obstacle and a right obstacle of the vehicle is greater than a preset distance.
Optionally, the second judging module further includes:
a seventh determining submodule, configured to determine that a door of the vehicle cannot be opened to a door opening threshold if a lateral distance between a left obstacle and a right obstacle of the vehicle is greater than a minimum safety distance and less than the preset distance.
The invention also discloses an electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor performs the steps of the method of parking as described above.
The invention also discloses a computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the method of parking as described above.
According to the method and the device, whether the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the parking space can be determined through the target parking space information, whether the user can comfortably get off the vehicle after the vehicle is parked in the parking space or not is further determined, the vehicle is controlled to park in the target parking space according to different modes on the basis, the aim that a driver and a passenger of the vehicle comfortably get on or off the vehicle is achieved, meanwhile, the method and the device are more suitable for more personification of the user, multiple improvement promotion such as humanized parking function, parking utilization rate and user comfort experience are achieved, and the limitation of the space of the driver and the passenger for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided.
Drawings
FIG. 1 is a flow chart of steps of a method for parking according to an embodiment of the present invention;
FIG. 2 is a schematic view of a width between a door edge and a door frame provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of a vehicle parking in a target parking space according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle parking into a target location provided by an embodiment of the present invention;
FIG. 5 is a schematic illustration of a vehicle according to an embodiment of the present invention being parked in a target parking space from a target location;
FIG. 6 is a flowchart of steps of another method of parking provided by an embodiment of the present invention;
FIG. 7 is a flowchart of steps of another method for parking provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of a parking spot parking value target position of a vehicle according to an embodiment of the present invention;
fig. 9 is a block diagram of a parking device according to an embodiment of the present invention;
fig. 10 is a block diagram of another parking device according to an embodiment of the present invention.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the prior art, the lack of flexibility of the automatic parking function of the vehicle is considered, after the vehicle automatically enters a target parking space, the situation that a driver cannot get off or even collides with obstacles on two sides can be caused, the driver can easily generate boring mind to the automatic driving function, the enthusiasm of a user for using the intelligent parking function is reduced, and the use rate of the intelligent parking function is also reduced.
One of the core concepts of the embodiment of the invention is that whether a vehicle door can be opened to a threshold value of the door opening after the vehicle is parked in a parking space is determined through target parking space information, and further whether a user can comfortably get off the vehicle after the vehicle is parked in the parking space is determined, on the basis, the vehicle is controlled to park in the target parking space according to different modes, so that the targets of comfortable getting on and off the vehicle by a vehicle driver and passengers are realized, simultaneously, the method is more suitable for more personification of the user, multiple improvement promotion such as humanized parking function, parking utilization rate, comfortable user experience and the like are realized, and the limitation of the space of getting off the vehicle by the driver and the risk of collision and scratch of the vehicle door are effectively avoided.
Referring to fig. 1, a flowchart of steps of a method for parking is shown, where the method is applied to an automatic parking assistance system, and may include the following steps:
step 101, receiving a parking instruction, wherein the parking instruction comprises target parking space information.
In the embodiment of the invention, the target parking space information refers to the geographic position of a target parking space which needs to be parked by a vehicle, an automatic parking auxiliary system (APA, auto Parking Assist) can sense information such as lane lines, parking space lines, surrounding obstacles and the like in a parking area through a plurality of looking-around cameras and ultrasonic radars carried on the periphery of the vehicle, a plurality of available parking spaces in the parking area are identified, then the available parking spaces are pushed to a user through a mobile terminal, the user can select the target parking space which needs to be parked in the plurality of available parking spaces, and after the selection is finished, a parking instruction can be sent to the automatic parking auxiliary driving system through the mobile terminal, so that the vehicle runs to the target parking space.
In some application scenarios, the user may be located outside the vehicle, and the user sends a parking instruction to the automatic parking assistance system through the mobile phone terminal.
In some application scenarios, a user may be located in a vehicle, and the user may send a parking instruction to the automatic parking assistance system through a mobile phone terminal or a vehicle-mounted terminal.
And 102, judging whether the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space according to the target parking space information.
In the embodiment of the invention, the door opening refers to different degrees of opening of the door, different grades are provided, the higher the grade is, the larger the corresponding door opening is, the door opening is generally divided into three grades, the grade 3 is the highest, the door opening threshold refers to the width between the door edge and the door frame corresponding to the grade 3 when the door is opened, and d is the door opening threshold as shown in fig. 2.
After the target parking space information is obtained, the geographic condition of the target parking space can be determined according to the target parking space information, so that whether the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the target parking space is determined.
And step 103, if the vehicle can be opened to the threshold value of the opening degree of the vehicle door after being parked in the target parking space, controlling the vehicle to be parked in the target parking space.
In the embodiment of the invention, if the vehicle can be opened to the threshold of the opening of the vehicle door after being parked in the target parking space, the space of the target parking space is wide enough, and at the moment, the parking mode can be a mode of controlling the vehicle to enter the target parking space in a central posture in a reversing way or other reversing and warehousing ways by controlling the vehicle to be parked in the target parking space through the automatic parking auxiliary system, and the parking mode is not limited. Fig. 3 shows a schematic view of a vehicle being parked in a target parking space, in which the vehicle is being backed in a centered position.
104, if the vehicle cannot be opened to the threshold value of the opening degree of the vehicle door after being parked in the target parking space, determining the target position, controlling the vehicle to travel to the target position, suspending the travel, and sending out a prompt signal, wherein the prompt signal is used for prompting a driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold.
In the embodiment of the invention, if the vehicle cannot be opened to the threshold value of the opening of the vehicle door after being parked in the target parking space, the space of the target parking space is insufficient for a driver to open the vehicle door to get off, and the vehicle can only be controlled to automatically run to the target parking space; the target position refers to a position where the door can be opened to an opening threshold, in one example, the length of the vehicle body is 4.9m, the door can be just opened to the opening threshold when the tail of the vehicle enters the position of the garage 3m, as shown in fig. 4, the length of the vehicle body is 4.9m, when the width of two sides of the vehicle is narrow, the door cannot be opened to the opening threshold after the vehicle is parked in a target parking space, the automatic parking auxiliary system controls the vehicle to travel in a reverse mode to the target position and then to pause the travel, at the moment, the target position of the vehicle is a position where the door can be just opened to the opening threshold when the vehicle enters the parking space 3m, and the automatic parking auxiliary system sends a prompt signal to prompt a driver to get off.
In one embodiment of the present invention, if the door of the vehicle cannot be opened to the door opening threshold after the vehicle enters the target parking space, the indication information may be directly sent out, where the indication information is used to instruct the driver to get off, after the driver gets off, the driver sends a parking instruction to the automatic parking auxiliary system through the vehicle key, and after the automatic parking auxiliary system receives the parking instruction, the vehicle is controlled to automatically travel to the target parking space, and after the vehicle enters the target parking space, the driver is reminded of the parking end so as to lock the vehicle by the user.
And 105, controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the key.
In the embodiment of the invention, after a driver gets off a vehicle, the driver can send a parking restoration instruction to the automatic parking auxiliary system through a vehicle key after the driver gets off the vehicle, the parking restoration instruction is used for indicating the vehicle to travel from a target position to the target parking space, the automatic parking auxiliary system can control the vehicle to park into the target parking space in a centered posture from the target position after receiving the parking restoration instruction, and after parking is completed, prompt information can be sent to prompt a user that the vehicle is parked completely, and the driver can lock the vehicle according to the prompt signal. In an example, as shown in fig. 5, after receiving a command for restoring parking, the automatic parking assist system controls the vehicle to park into the target parking space from the target position, and the direction indicated by the arrow is the direction from the vehicle to the reverse into the target parking space.
According to the method and the device, whether the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the parking space is determined through the target parking space information, whether the user can comfortably get off the vehicle after the vehicle is parked in the parking space is further determined, the vehicle is controlled to park in the target parking space according to different modes on the basis, the aim that a driver and a passenger of the vehicle comfortably get on or off the vehicle is achieved, meanwhile, the method and the device are more in line with the user to more personify, multiple improvement promotion such as humanized parking function, parking utilization rate and user comfort experience are achieved, the limitation of the space of the driver and the passenger for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided, and convenience is provided for the user.
Referring to fig. 6, a flowchart of steps of another method for parking is provided, where the method is applied to an automatic parking assistance system, and may include the following steps:
step 201, a parking instruction is received, wherein the parking instruction includes target parking space information.
Step 202, detecting whether a target parking space has a parking space line according to the target parking space information.
According to the embodiment of the invention, the automatic parking auxiliary system can detect whether a target parking space has a parking space line or not through the cameras and the radars around the vehicle body according to the target parking space information.
Step 203, when the target parking space has a parking space line, acquiring the single-side width of the parking space line and the vehicle width, wherein the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the center line of the target parking space.
In the embodiment of the invention, when the automatic parking auxiliary system detects that the target parking space has a parking space line, the single-side width of the parking space line and the width of the vehicle can be obtained, and the single-side width of the parking space line is particularly obtainedThe degree is as follows: measuring the distance from the left parking space line to the right parking space line of a target parking space through a laser radar, wherein the single-side width d of the parking space line 1 The distance from the left parking space line to the right parking space line is half; acquiring vehicle width d 2 The method comprises the following steps: the distance from the left side to the right side of the vehicle body is measured by a laser radar.
Step 204, acquiring a door opening threshold value, and calculating an average value of the vehicle width and the door opening threshold value;
in the embodiment of the invention, the door opening thresholds of different vehicle types are different, and in one example, the door opening threshold of the A model vehicle type is d 3 The average value of the vehicle width and the door opening threshold value is d= (d) 2 +d 3 )/2。
And 205, if the single-side width of the parking space line is larger than the average value, determining that the vehicle door can be opened to a door opening threshold after the vehicle is parked in the target parking space.
In the embodiment of the present invention, if d 1 >d, determining that the vehicle can be opened to a threshold value of the opening degree of the vehicle door after the vehicle is parked in the target parking space.
In an embodiment of the present invention, the determining, according to the target parking space information, whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space further includes:
If the single-side width of the parking space line is larger than the single-side width threshold value and smaller than or equal to the average value, determining that the vehicle door cannot be opened to the door opening threshold value after the vehicle is parked in the target parking space.
In the embodiment of the present invention, if d 3 <d 1 <And d, indicating that the vehicle can not be opened to the threshold of the opening degree of the vehicle door after being parked in the target parking space, wherein the vehicle can be parked in the target parking space but can not meet the requirement of safe getting-off of the driver, namely, the driver can be informed of getting-off at the moment, and then the vehicle is controlled to travel to the target parking space through the automatic parking auxiliary system.
In an embodiment of the present invention, the determining, according to the target parking space information, whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space may further include:
when the target parking space has no parking space line, detecting whether barriers exist on two sides of the target parking space; if barriers exist on two sides of the target parking space, acquiring the unilateral width between the left barrier and the right barrier; the unilateral width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the central boundary line of the two side obstacles; if the single-side width between the left obstacle and the right obstacle is larger than the average value, determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space.
In the embodiment of the invention, when the laser radar identifies that the target parking space has no parking space line, namely, the target parking space is a possible open site, in one example, the target parking space is a site of a first floor of a district, whether the two sides of the target parking space have barriers can be detected, if the two sides of the target parking space have barriers, the two sides of a vehicle stop, in one example, the single-side width of the left barrier and the single-side width of the right barrier can be obtained, and the method for obtaining the single-side width of the left barrier and the single-side width of the right barrier comprises the following two modes:
(1) If the parking positions of the left obstacle and the right obstacle are irregular, firstly acquiring the central lines of the two side obstacles, then respectively calculating the distance from the left obstacle to the central line and the distance from the right obstacle to the central line, and then taking the minimum value as the unilateral width d between the left obstacle and the right obstacle 4 。
(2) If the parking positions of the left obstacle and the right obstacle are regular, the central lines of the two side obstacles are determined, and then the distance from the left obstacle to the central line or the distance from the right obstacle to the central line is taken as the unilateral width d between the left obstacle and the right obstacle 4 。
A single side width d between the left obstacle and the right obstacle is obtained 4 After that, if d 4 >d, determining that the vehicle can be opened to a threshold value of the opening degree of the vehicle door after the vehicle is parked in the target parking space.
In an embodiment of the present invention, the determining, according to the target parking space information, whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space may further include:
if an obstacle exists on one side of the target parking space or the target parking space is free of the obstacle, determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space.
In the embodiment of the invention, when the laser radar identifies the target parking space wireless, and the single side of the target parking space is provided with the obstacle or the target parking space is provided with the obstacle, the situation that the vehicle door can be opened to the threshold of the door opening after the vehicle is parked in the target parking space can be determined, namely the width of the target parking space is enough for a driver to get off the vehicle.
And 206, controlling the vehicle to be parked in the target parking space if the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the target parking space.
In the embodiment of the invention, if the target parking space has no parking space line and an obstacle exists on one side of the target parking space, the automatic parking auxiliary system can take the obstacle on one side as a boundary, and control the vehicle to park into the target parking space by taking the distance from the boundary of the transverse gesture as a preset distance.
If the target parking space is free of an obstacle, the automatic parking auxiliary system can control the vehicle to park in the target parking space, and the mode of parking the vehicle in the target parking space is not limited because no obstacle exists.
Step 207, if the vehicle cannot be opened to the threshold value of the opening of the vehicle door after being parked in the target parking space, determining the target position, controlling the vehicle to travel to the target position, suspending the travel, and sending out a prompt signal, wherein the prompt signal is used for prompting the driver to get off; the target position is a position where the door can be opened to a door opening threshold.
And step 208, controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the key.
According to the method and the device, whether the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the parking space is determined through the target parking space information, whether the user can comfortably get off the vehicle after the vehicle is parked in the parking space is further determined, the vehicle is controlled to park in the target parking space according to different modes on the basis, the aim that a driver and a passenger of the vehicle comfortably get on or off the vehicle is achieved, meanwhile, the method and the device are more in line with the user to more personify, multiple improvement promotion such as humanized parking function, parking utilization rate and user comfort experience are achieved, the limitation of the space of the driver and the passenger for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided, and convenience is provided for the user.
Referring to fig. 7, a flowchart of steps of another method for parking is provided, which is applied to an automatic parking assistance system and includes the following steps:
step 301, receiving a parking instruction, where the parking instruction includes parking space information of a parking space where the vehicle is located.
In the embodiment of the invention, the user can send the parking instruction to the automatic parking auxiliary system by the mobile terminal, and the automatic parking auxiliary system can control the vehicle to exit from the parking space where the vehicle is located according to the parking instruction after receiving the parking instruction.
Step 302, judging whether a door of the vehicle can be opened to a door opening threshold according to parking space information of a parking space where the vehicle is located.
In the embodiment of the invention, the door opening degree refers to different degrees of opening the door, different grades are provided, the higher the grade is, the larger the corresponding door opening degree is, the door opening degree is generally divided into three grades, the grade 3 is the highest, and the door opening degree threshold value refers to the width between the edge of the door corresponding to the grade 3 and the door frame.
After the parking space information of the vehicle is obtained, the situation of the geographic position of the parking space can be determined according to the parking space information of the vehicle, and then whether the door of the vehicle can be opened to the door opening threshold value is judged according to the situation of the geographic position.
In step 303, if the door of the vehicle can be opened to the door opening threshold, the vehicle is controlled to park from the parking space in which the vehicle is located.
In the embodiment of the invention, if the door of the vehicle can be opened to the threshold value of the door opening, the space of the parking space where the vehicle is located is wide enough, and at the moment, the vehicle can be controlled to be parked from the position where the vehicle is located through the automatic parking auxiliary system.
Step 304, if the door of the vehicle cannot be opened to the door opening threshold, determining a target position, controlling the vehicle to move straight to the target position, stopping driving, and informing a driver to get on the vehicle to take over the vehicle; the target position is a position where the door can be opened to a door opening threshold.
In the embodiment of the invention, if the door of the vehicle cannot be opened to the door opening threshold value, the space of the parking space where the vehicle is located is relatively narrow, at this time, the vehicle can be controlled to travel to the target position, the target position refers to the position where the door can be opened to the opening threshold value, in one example, the length of the vehicle body is 4.9m, when the vehicle head is parked out of the parking space 2m, the door can just be opened to the position of the door opening threshold value, as shown in fig. 8, the length of the vehicle body is 4.9m, the automatic parking auxiliary system controls the vehicle to park to the target position, at this time, the target position of the vehicle is the position where the vehicle head is parked out of the parking space 2m, the door can just be opened to the door opening threshold value, and the automatic parking auxiliary system sends a prompt signal to prompt the driver to take over the vehicle when the vehicle is parked out of the parking space where the vehicle is located.
According to the method and the device, whether the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the parking space is determined through the target parking space information, whether the user can comfortably get off the vehicle after the vehicle is parked in the parking space is further determined, the vehicle is controlled to park in the target parking space according to different modes on the basis, the aim that a driver and a passenger of the vehicle comfortably get on or off the vehicle is achieved, meanwhile, the method and the device are more in line with the user to more personify, multiple improvement promotion such as humanized parking function, parking utilization rate and user comfort experience are achieved, the limitation of the space of the driver and the passenger for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided, and convenience is provided for the user.
In an embodiment of the present invention, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold may include: detecting whether an obstacle exists around the vehicle according to the parking space information of the parking space where the vehicle is located; and if no obstacle exists right in front of, on the left side of and on the right side of the vehicle, determining that the door of the vehicle can be opened to a door opening threshold value.
In the embodiment of the invention, the automatic parking auxiliary system can detect whether the periphery of the parking space where the vehicle is located has an obstacle, and if the vehicle is not provided with the obstacle right in front of, left side of and right side of the vehicle, the position where the vehicle is located is clear, at the moment, the door of the vehicle can be determined to be opened to the threshold value of the door opening, and the vehicle can be controlled to be directly parked to the position where the driver is located.
In an embodiment of the present invention, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold may further include: and if the obstacle exists right in front of the vehicle, sending out prompt information, wherein the prompt information is used for prompting a driver that the vehicle cannot be parked out.
In the embodiment of the invention, if an obstacle exists in front of the vehicle, in one example, the vehicle is parked in front of the vehicle, and the vehicle does not meet the parking condition, the automatic parking auxiliary system sends out an indication signal, and the driver can know that the obstacle exists in front of the vehicle after hearing the indication signal.
In an embodiment of the present invention, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold may further include: if no obstacle exists right in front of the vehicle and the left side and the right side of the vehicle are provided with obstacles, acquiring the transverse distance between the left side obstacle and the right side obstacle of the vehicle, wherein the transverse distance between the left side obstacle and the right side obstacle of the vehicle is the sum of the distance from the left side obstacle to the left side of the vehicle and the distance from the right side obstacle to the right side of the vehicle; and if the transverse distance between the left obstacle and the right obstacle of the vehicle is greater than the preset distance, determining that the door of the vehicle can be opened to a door opening threshold value.
In the embodiment of the invention, if no obstacle exists right in front of the vehicle, but the left side and the right side of the vehicle have the obstacle, the left side obstacle of the vehicle can be obtained through the laser radarThe lateral distance between the obstacle and the right obstacle is obtained by: measuring the distance from the left obstacle to the left side of the vehicle by a laser radar, measuring the distance from the right obstacle to the right side of the vehicle, and adding the distance from the left obstacle to the left side of the vehicle to the distance from the right obstacle to the right side of the vehicle to obtain the transverse distance d between the left obstacle and the right obstacle of the vehicle 5 。
The preset distance refers to a distance capable of ensuring that the vehicle can safely exit from the parking space, and can be set according to the requirement of a user, in one example, the preset distance is 2 times of the width of the two side doors, and the width of the one side door is 0.5m, then the preset distance is 1m, and if d 5 >1, determining that a door of the vehicle can be opened to a door opening threshold.
In one embodiment of the present invention, if there is no obstacle right in front of the vehicle, there are obstacles on the left and right sides, and the door of the vehicle can be opened to the door opening threshold, a vertical parking track can be generated with the distance between the left and right side obstacles, and then the vehicle is controlled to park according to the vertical parking track, where the final pose of the vehicle is perpendicular to the initial parking pose of the vehicle.
In an embodiment of the present invention, the determining, according to the parking space information of the parking space where the vehicle is located, whether the door of the vehicle can be opened to a door opening threshold may further include: and if the transverse distance between the left obstacle and the right obstacle of the vehicle is larger than the minimum safety distance and smaller than the preset distance, determining that the door of the vehicle cannot be opened to a door opening threshold.
In the embodiment of the present invention, the minimum safety distance refers to the minimum width that can ensure the vehicle to exit from the site with obstacles at two sides, in one example, the minimum safety distance is 0.6m, if 0.6<d 5 <1, it is determined that the door of the vehicle cannot be opened to the door opening threshold.
If d 5 <0.6, the width between the two side barriers is too narrow, which will cause the risk of parking collisionA prompt may be sent to instruct the user to prohibit the vehicle from being parked.
According to the method and the device, whether the vehicle door can be opened to the threshold value of the door opening after the vehicle is parked in the parking space is determined through the target parking space information, whether the user can comfortably get off the vehicle after the vehicle is parked in the parking space is further determined, the vehicle is controlled to park in the target parking space according to different modes on the basis, the aim that a driver and a passenger of the vehicle comfortably get on or off the vehicle is achieved, meanwhile, the method and the device are more in line with the user to more personify, multiple improvement promotion such as humanized parking function, parking utilization rate and user comfort experience are achieved, the limitation of the space of the driver and the passenger for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided, and convenience is provided for the user.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 9, a block diagram of a parking device according to an embodiment of the present invention is shown, and the parking device is applied to an automatic parking assistance system, where the parking device may include:
a first receiving module 401, configured to receive a parking instruction, where the parking instruction includes target parking space information;
the first judging module 402 is configured to judge, according to the target parking space information, whether a vehicle door can be opened to a door opening threshold after the vehicle is parked in the target parking space;
the first control module 403 is configured to control the vehicle to park in the target parking space if the door can be opened to a door opening threshold after the vehicle parks in the target parking space;
The determining module 404 is configured to determine a target position if the door cannot be opened to a door opening threshold after the vehicle is parked in the target parking space, control the vehicle to travel to the target position, and suspend the travel, and send a prompt signal, where the prompt signal is used to prompt the driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold;
and the second control module 405 is configured to control the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the key.
In an embodiment of the present invention, the first determining module 402 may include:
the first detection submodule is used for detecting whether a target parking space has a parking space line or not according to the target parking space information;
the first acquisition submodule is used for acquiring the unilateral width and the vehicle width of the parking space line when the parking space line exists in the target parking space, wherein the unilateral width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the central line of the target parking space;
the calculating submodule is used for obtaining a door opening threshold value and calculating an average value of the vehicle width and the door opening threshold value;
And the first determining submodule is used for determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space if the unilateral width of the parking space line is larger than the average value.
In an embodiment of the present invention, the first determining module 402 may further include:
and the second determining submodule is used for determining that the vehicle door cannot be opened to the door opening threshold after the vehicle is parked in the target parking space if the single-side width of the parking space line is larger than the single-side width threshold and smaller than or equal to the average value.
In an embodiment of the present invention, the first determining module 402 may further include:
the second detection submodule is used for detecting whether barriers exist on two sides of the target parking space when the target parking space is free of parking space lines;
the second acquisition submodule is used for acquiring the unilateral width between the left obstacle and the right obstacle if the obstacles exist on two sides of the target parking space; the unilateral width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the central boundary line of the two side obstacles;
and the third determining submodule is used for determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space if the single-side width between the left obstacle and the right obstacle is larger than the average value.
In an embodiment of the present invention, the first determining module 402 may further include:
and the fourth determining submodule is used for determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space if an obstacle exists on one side of the target parking space or the target parking space is free of the obstacle.
The invention discloses a parking device, which is characterized in that whether a vehicle door can be opened to a threshold value of the opening degree of the vehicle door after the vehicle is parked in a parking space is determined through target parking space information, so that whether a user can get off the vehicle comfortably is determined, on the basis, the vehicle is controlled to park in the target parking space according to different modes, the aim of enabling a driver and passengers of the vehicle to get on and off the vehicle comfortably is achieved, meanwhile, the device is more anthropomorphic to the user, multiple improvements and improvements such as humanized parking function, parking utilization rate, user comfort experience and the like are achieved, the limitation of the space of the driver and passengers for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided, and convenience is provided for the user.
Referring to fig. 10, a block diagram of a parking device according to an embodiment of the present invention is shown, and the parking device is applied to an automatic parking assistance system, where the parking device may include:
the second receiving module 501 is configured to receive a parking instruction, where the parking instruction includes parking space information of a parking space where the vehicle is located;
The second judging module 502 is configured to judge whether a door of the vehicle can be opened to a door opening threshold according to parking space information of a parking space where the vehicle is located;
a third control module 503, configured to control the vehicle to park from a parking space where the vehicle is located if a door of the vehicle can be opened to a door opening threshold;
a notification module 504, configured to determine a target position if a door of the vehicle cannot be opened to a door opening threshold, control the vehicle to move straight to the target position, and then pause running, and notify a driver to get on the vehicle to take over the vehicle; the target position is a position where the door can be opened to a door opening threshold.
In an embodiment of the present invention, the second determining module 502 may include:
the third detection submodule is used for detecting whether an obstacle exists around the vehicle according to the parking space information of the parking space where the vehicle is located;
and a fifth determining submodule, configured to determine that a door of the vehicle can be opened to a door opening threshold if no obstacle exists right in front of, on the left side of, and on the right side of the vehicle.
In an embodiment of the present invention, the second determining module 502 may further include:
And the sending sub-module is used for sending prompt information if an obstacle exists right in front of the vehicle, and the prompt information is used for prompting a driver that the vehicle cannot be parked out.
In an embodiment of the present invention, the second determining module 502 may further include:
a third obtaining submodule, configured to obtain a lateral distance between a left side obstacle and a right side obstacle of the vehicle if no obstacle exists right in front of the vehicle and both the left side and the right side have obstacles, where the lateral distance between the left side obstacle and the right side obstacle of the vehicle is a sum of a distance from the left side obstacle to the left side of the vehicle and a distance from the right side obstacle to the right side of the vehicle;
and a sixth determining submodule, configured to determine that a door of the vehicle can be opened to a door opening threshold value if a lateral distance between a left obstacle and a right obstacle of the vehicle is greater than a preset distance.
In an embodiment of the present invention, the second determining module 502 may further include:
a seventh determining submodule, configured to determine that a door of the vehicle cannot be opened to a door opening threshold if a lateral distance between a left obstacle and a right obstacle of the vehicle is greater than a minimum safety distance and less than the preset distance.
The invention discloses a parking device, which is characterized in that whether a vehicle door can be opened to a threshold value of the opening degree of the vehicle door after the vehicle is parked in a parking space is determined through target parking space information, so that whether a user can get off the vehicle comfortably is determined, on the basis, the vehicle is controlled to park in the target parking space according to different modes, the aim of enabling a driver and passengers of the vehicle to get on and off the vehicle comfortably is achieved, meanwhile, the device is more anthropomorphic to the user, multiple improvements and improvements such as humanized parking function, parking utilization rate, user comfort experience and the like are achieved, the limitation of the space of the driver and passengers for getting off the vehicle and the risk of collision and scratch of the vehicle door are effectively avoided, and convenience is provided for the user.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also provides electronic equipment, which comprises:
the lane line detection method comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes the processes of the lane line detection method embodiment when being executed by the processor, can achieve the same technical effects, and is not repeated here.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the lane line detection method embodiment and can achieve the same technical effects, and in order to avoid repetition, the description is omitted.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has outlined rather broadly the principles and embodiments of the present invention in order that the detailed description of the method, apparatus, electronic device and computer readable storage medium that is provided herein may be better understood, and in order that the present invention may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (14)

1. A method of parking, for application to an automated parking assistance system, the method comprising:
receiving a parking instruction, wherein the parking instruction comprises target parking space information;
judging whether a vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space according to the target parking space information;
if the vehicle can be opened to a threshold value of the opening degree of the vehicle door after being parked in the target parking space, controlling the vehicle to be parked in the target parking space;
if the vehicle is parked in the target parking space and the vehicle door cannot be opened to the threshold value of the opening of the vehicle door, determining a target position, controlling the vehicle to travel to the target position, stopping the vehicle, and sending out a prompt signal, wherein the prompt signal is used for prompting the driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold;
and controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the vehicle key.
2. The method of claim 1, wherein determining whether the door can be opened to a door opening threshold after the vehicle is parked in the target parking space based on the target parking space information comprises:
Detecting whether a parking space line exists in the target parking space according to the target parking space information;
when a parking space line exists in the target parking space, acquiring the single-side width and the vehicle width of the parking space line, wherein the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the central line of the target parking space;
acquiring a door opening threshold value, and calculating an average value of the vehicle width and the door opening threshold value;
and if the single-side width of the parking space line is larger than the average value, determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space.
3. The method of claim 2, wherein the determining whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space according to the target parking space information, further comprises:
if the single-side width of the parking space line is larger than the single-side width threshold value and smaller than or equal to the average value, determining that the vehicle door cannot be opened to the door opening threshold value after the vehicle is parked in the target parking space.
4. The method of claim 2, wherein the determining whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space according to the target parking space information, further comprises:
When the target parking space has no parking space line, detecting whether barriers exist on two sides of the target parking space;
if obstacles exist on two sides of the target parking space, acquiring a single-side width between the left obstacle and the right obstacle; the unilateral width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the central boundary line of the two side obstacles;
and if the single-side width between the left obstacle and the right obstacle is larger than the average value, determining that the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space.
5. The method of claim 4, wherein determining whether the door can be opened to a door opening threshold after the vehicle is parked in the target parking space based on the target parking space information, further comprises:
and if the barrier exists on one side of the target parking space or the target parking space is free of the barrier, determining that the vehicle door can be opened to a threshold value of the door opening after the vehicle is parked in the target parking space.
6. A method of parking, for application to an automated parking assistance system, the method comprising:
receiving a parking instruction, wherein the parking instruction comprises parking space information of a parking space where a vehicle is located;
Judging whether a vehicle door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space where the vehicle is located;
if the vehicle door of the vehicle can be opened to a door opening threshold value, controlling the vehicle to park out from a parking space where the vehicle is located;
if the door of the vehicle cannot be opened to the door opening threshold, determining a target position, controlling the vehicle to move straight to the target position, stopping driving, and informing a driver to get on the vehicle to take over the vehicle; the target position is a position where the door can be opened to a door opening threshold.
7. The method according to claim 6, wherein the determining whether the door of the vehicle can be opened to the door opening threshold according to the parking space information of the parking space in which the vehicle is located includes:
detecting whether an obstacle exists around the vehicle according to the parking space information of the parking space where the vehicle is located;
and if no obstacle exists right in front of, on the left side of and on the right side of the vehicle, determining that the door of the vehicle can be opened to a door opening threshold value.
8. The method of claim 7, wherein the determining whether the door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space in which the vehicle is located, further comprises:
And if the obstacle exists right in front of the vehicle, sending out prompt information, wherein the prompt information is used for prompting a driver that the vehicle cannot be parked out.
9. The method of claim 7, wherein the determining whether the door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space in which the vehicle is located, further comprises:
if no obstacle exists right in front of the vehicle and the left side and the right side of the vehicle are provided with obstacles, acquiring the transverse distance between the left side obstacle and the right side obstacle of the vehicle, wherein the transverse distance between the left side obstacle and the right side obstacle of the vehicle is the sum of the distance from the left side obstacle to the left side of the vehicle and the distance from the right side obstacle to the right side of the vehicle;
and if the transverse distance between the left obstacle and the right obstacle of the vehicle is greater than the preset distance, determining that the door of the vehicle can be opened to a door opening threshold value.
10. The method of claim 9, wherein determining whether a door of the vehicle can be opened to a door opening threshold based on information of a parking space in which the vehicle is located, further comprising;
and if the transverse distance between the left obstacle and the right obstacle of the vehicle is larger than the minimum safety distance and smaller than the preset distance, determining that the door of the vehicle cannot be opened to a door opening threshold.
11. An apparatus for parking, for use in an automated parking assistance system, the apparatus comprising:
the first receiving module is used for receiving a parking instruction, wherein the parking instruction comprises target parking space information;
the first judging module is used for judging whether the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space according to the target parking space information;
the first control module is used for controlling the vehicle to be parked in the target parking space if the vehicle door can be opened to a door opening threshold value after the vehicle is parked in the target parking space;
the determining module is used for determining a target position if the vehicle door cannot be opened to a door opening threshold after the vehicle is parked in the target parking space, controlling the vehicle to travel to the target position, stopping the travel, and sending a prompt signal, wherein the prompt signal is used for prompting the driver to get off the vehicle; the target position is a position where the door can be opened to a door opening threshold;
and the second control module is used for controlling the vehicle to park in the target parking space after receiving a parking restoration instruction sent by the driver through the vehicle key.
12. An apparatus for parking, for use in an automated parking assistance system, the apparatus comprising:
The second receiving module is used for receiving a parking instruction, wherein the parking instruction comprises parking space information of a parking space where the vehicle is located;
the second judging module is used for judging whether the vehicle door of the vehicle can be opened to a door opening threshold according to the parking space information of the parking space where the vehicle is located;
the third control module is used for controlling the vehicle to park out of a parking space where the vehicle is located if the door of the vehicle can be opened to a door opening threshold value;
the notification module is used for determining a target position if the door of the vehicle cannot be opened to a door opening threshold value, controlling the vehicle to move straight to the target position, stopping driving, and notifying a driver to get on the vehicle to take over the vehicle; the target position is a position where the door can be opened to a door opening threshold.
13. An electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor carries out the steps of the method of parking according to any one of claims 1-10.
14. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of parking as claimed in any of claims 1 to 10.
CN202310317329.XA 2023-03-28 2023-03-28 Parking method, device, equipment and storage medium Pending CN116198488A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310317329.XA CN116198488A (en) 2023-03-28 2023-03-28 Parking method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310317329.XA CN116198488A (en) 2023-03-28 2023-03-28 Parking method, device, equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116198488A true CN116198488A (en) 2023-06-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310317329.XA Pending CN116198488A (en) 2023-03-28 2023-03-28 Parking method, device, equipment and storage medium

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Country Link
CN (1) CN116198488A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117818586A (en) * 2024-01-30 2024-04-05 重庆赛力斯凤凰智创科技有限公司 Vehicle reversing method and device, electronic equipment and readable storage medium
CN118025140A (en) * 2024-03-14 2024-05-14 中国第一汽车股份有限公司 Automatic parking method, vehicle, management device and system for target parking area

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117818586A (en) * 2024-01-30 2024-04-05 重庆赛力斯凤凰智创科技有限公司 Vehicle reversing method and device, electronic equipment and readable storage medium
CN118025140A (en) * 2024-03-14 2024-05-14 中国第一汽车股份有限公司 Automatic parking method, vehicle, management device and system for target parking area

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