CN116215506A

CN116215506A - Parking control method and device, electronic equipment and vehicle

Info

Publication number: CN116215506A
Application number: CN202310028925.6A
Authority: CN
Inventors: 富天白; 魏宏; 范志超; 张少帅
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-06-06

Abstract

The disclosure provides a parking control method and device, electronic equipment and a vehicle. The method comprises the following steps: acquiring identification information around a vehicle; determining that a searching function of the vehicle is started, controlling the vehicle to run according to the identification information, and acquiring at least one piece of position information around the vehicle in the running process; judging whether a target position corresponding to the search function exists in the at least one piece of position information; responsive to determining that a target location exists, determining a target route between the vehicle and the target location by path planning; and controlling the vehicle to travel to the target position according to the target route. At least one piece of surrounding position information in the running process of the vehicle is acquired, and the surrounding position information can be acquired in real time. And controlling the vehicle to run according to the identification information, and avoiding dangerous working conditions caused by acquiring the position information in the running process of the vehicle.

Description

Parking control method and device, electronic equipment and vehicle

Technical Field

The disclosure relates to the technical field of vehicle control, and in particular relates to a parking control method, a device, electronic equipment and a vehicle.

Background

With the development of the vehicle industry, the parking function of the vehicle is also developed. However, building a map for a parking lot by a user driving a vehicle is not applicable to a scene where available parking spaces of a public parking lot are not fixed. In public parking lots, dangerous working conditions such as reverse running easily occur when a vehicle searches for an available vehicle position or an exit when the vehicle searches for the available vehicle position.

In view of this, how to avoid dangerous working conditions when a vehicle searches for an available vehicle position or an exit, and the method is a problem to be solved.

Disclosure of Invention

Accordingly, the present disclosure aims to provide a parking control method, a device, an electronic apparatus and a vehicle, so as to solve the problem in the prior art that dangerous working conditions such as reverse running easily occur when the vehicle searches for an available vehicle position or an exit when exploring and advancing.

Based on the above object, a first aspect of the present disclosure proposes a parking control method, including:

acquiring identification information around a vehicle;

determining that a searching function of the vehicle is started, controlling the vehicle to run according to the identification information, and acquiring at least one piece of position information around the vehicle in the running process;

judging whether a target position corresponding to the search function exists in the at least one piece of position information;

responsive to determining that a target location exists, determining a target route between the vehicle and the target location by path planning;

and controlling the vehicle to travel to the target position according to the target route.

Based on the same inventive concept, a second aspect of the present disclosure proposes a parking control apparatus including:

An identification information acquisition module configured to acquire identification information around a vehicle;

the position information acquisition module is configured to determine that a search function of the vehicle is started, control the vehicle to run according to the identification information, and acquire at least one piece of position information around the vehicle in the running process;

a judging module configured to judge whether a target position corresponding to the search function exists in the at least one piece of position information;

a path planning module configured to determine a target route between a vehicle and a target location through path planning in response to determining that the target location exists;

and a vehicle control module configured to control the vehicle to travel to the target position according to the target route.

Based on the same inventive concept, a third aspect of the present disclosure proposes an electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method as described above when executing the computer program.

Based on the same inventive concept, a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method as described above.

Based on the same inventive concept, a fifth aspect of the present disclosure proposes a vehicle including the parking control apparatus of the second aspect or the electronic device of the third aspect.

From the above, it can be seen that the parking control method, the device, the electronic equipment and the vehicle provided by the present disclosure acquire the identification information around the vehicle; determining that a searching function of the vehicle is started, controlling the vehicle to run according to the identification information, and acquiring at least one piece of position information around the vehicle in the running process; the surrounding position information is acquired in real time during the running process of the vehicle. And controlling the vehicle to run according to the identification information, and avoiding dangerous working conditions caused by acquiring the position information in the running process of the vehicle. Judging whether a target position corresponding to the search function exists in the at least one piece of position information; responsive to determining that a target location exists, determining a target route between the vehicle and the target location by path planning; and controlling the vehicle to travel to the target position according to the target route. And judging whether the position information corresponding to the search function exists in the at least one piece of position information, determining the target position corresponding to the search function, and constructing a map for the surrounding environment by a user driving a vehicle is not needed, so that the user experience is improved, and the method is suitable for public parking lots.

Drawings

In order to more clearly illustrate the technical solutions of the present disclosure or related art, the drawings required for the embodiments or related art description will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is a flow chart of a park control method according to an embodiment of the disclosure;

FIG. 2 is a schematic illustration of parking control according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural view of a parking control apparatus according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present disclosure pertains. The terms "first," "second," and the like, as used in embodiments of the present disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

As described above, how to avoid dangerous conditions when a vehicle searches for an available vehicle space or exit is an important research problem.

Based on the above description, as shown in fig. 1, the parking control method provided in this embodiment is applied to a vehicle end; the method comprises the following steps:

step 101, acquiring identification information around a vehicle.

In specific implementation, when a vehicle enters a parking lot to park or when the vehicle leaves the parking lot, identification information around the vehicle is acquired. The identification information around the vehicle refers to parking lot traffic sign information around the vehicle. The identification information includes at least one of: intersection identification information, lane identification information, speed limit identification information, warning identification information, parking space position identification information and guide identification information.

The identification information around the vehicle is acquired through the sensor, for example, the identification information in front of the vehicle is acquired through the front-view camera, and the identification information on the side of the vehicle is acquired through the surrounding-view camera.

Step 102, determining that a search function of the vehicle is started, controlling the vehicle to run according to the identification information, and acquiring at least one piece of position information around the vehicle in the running process.

In particular, the vehicle search function includes a parking space search function and an exit search function. And after the parking space searching function is started, controlling the vehicle to run according to the identification information. For example, the vehicle speed is controlled or the vehicle steering is controlled according to the identification information, so that the safety of the vehicle in the running process is ensured, and dangerous working conditions such as reverse running or overspeed are avoided.

And controlling the vehicle to run according to the identification information, and acquiring at least one piece of position information around the vehicle during the running of the vehicle. The position information comprises parking space information and exit information.

When the parking space searching function of the vehicle is started, the vehicle is controlled to run according to the identification information, and at least one piece of parking space information around the vehicle is acquired. Wherein the at least one parking space information around the vehicle includes at least one parking space information in front of the vehicle or at least one parking space information in a side direction of the vehicle.

When the exit search function of the vehicle is turned on, the vehicle is controlled to travel according to the identification information and at least one piece of exit information around the vehicle is acquired. Wherein the exit information includes exit guidance indication information and exit flag information.

Step 103, judging whether a target position corresponding to the search function exists in the at least one piece of position information.

And in the specific implementation, sequentially judging the acquired at least one position information until the target position corresponding to the search function is obtained. The location information includes parking space information and exit information.

In response to determining that the target location exists, a target route between the vehicle and the target location is determined by path planning, step 104.

When the method is implemented, after at least one position information is judged and the target position corresponding to the search function is determined, a route between the vehicle and the target position is planned through path planning, and a target route is obtained.

And after judging and determining the target parking space corresponding to the searching function, planning a route between the vehicle and the target parking space through path planning to obtain a first target route. The first target route is the first best route between the vehicle and the target parking space.

And after judging at least one exit information and determining that a target exit exists, planning a route between the vehicle and the target exit through path planning to obtain a second target route. The second target route is the second best route between the vehicle and the target exit.

And 105, controlling the vehicle to travel to the target position according to the target route.

When the method is implemented, the vehicle is controlled to run according to the determined target route until the vehicle runs to the target position.

In the above embodiment, the identification information around the vehicle is acquired; determining that a searching function of the vehicle is started, controlling the vehicle to run according to the identification information, and acquiring at least one piece of position information around the vehicle in the running process; the surrounding position information is acquired in real time during the running process of the vehicle. And controlling the vehicle to run according to the identification information, and avoiding dangerous working conditions caused by acquiring the position information in the running process of the vehicle. Judging whether a target position corresponding to the search function exists in the at least one piece of position information; responsive to determining that a target location exists, determining a target route between the vehicle and the target location by path planning; and controlling the vehicle to travel to the target position according to the target route. And judging whether the position information corresponding to the search function exists in the at least one piece of position information, determining the target position corresponding to the search function, and constructing a map for the surrounding environment by a user driving a vehicle is not needed, so that the user experience is improved, and the method is suitable for public parking lots.

In some embodiments, the location information includes: parking space information or exit information; the search function includes: a search space function or a search exit function.

Step 102 comprises:

step 102A, determining that a vehicle search space function is on.

Step 103 comprises:

step 103A, judging whether a target parking space corresponding to the parking space searching function exists in the at least one parking space information.

In specific implementation, the location information includes: parking space information or exit information; the search function includes: a search space function or a search exit function.

The judgment process of the parking space information is as follows: and judging whether other vehicles or barriers exist in the corresponding parking spaces according to the parking space information, and determining the parking space as the target parking space corresponding to the search function when the other vehicles or barriers do not exist in the corresponding parking spaces.

Or alternatively, the process may be performed,

step 102 comprises:

step 102B, determining that the search exit function of the vehicle is on.

Step 103 comprises:

step 103B, determining whether a target outlet corresponding to the search outlet function exists in the at least one outlet information.

The judging process of the outlet information is as follows: and judging the at least one piece of outlet information in sequence. Judging whether exit mark information exists in the guiding direction according to the exit guiding indication information, and determining that a target exit exists at a position corresponding to the exit mark information when the exit mark information exists. Wherein the said

The exit guiding indication information is an exit guiding arrow, and the exit mark information is a charging rod. For example, the vehicle is controlled to travel according to the direction indicated by the exit guide arrow 5, and the exit ahead during the travel of the vehicle is acquired

And judging whether the charging rod exists in the front exit information of the vehicle, and determining the position corresponding to the charging rod as a target exit when the charging rod exists in front of the vehicle.

In the above scheme, corresponding position information is obtained according to the search function started by the vehicle, and the corresponding position information is obtained according to the search result

And judging the parking space information or the exit information by adopting a corresponding judging method according to the corresponding position information, and determining 0 a target parking space or a target exit corresponding to the searching function. Can realize two parking spaces and two exits

The position type is judged, and the functions are various.

In some embodiments, the location information is parking space information; the identification information includes intersection identification information and lane identification information.

Step 102 comprises:

and 5, performing judgment processing on the identification information 1021.

In particular, the identification information refers to parking lot traffic sign information around the vehicle. The identification information includes: intersection identification information and lane identification information.

And step 1022, in response to determining that the identification information is the intersection identification information, controlling the vehicle speed to run within a preset first vehicle speed interval range.

0, wherein the identification information is the identification information of the surrounding of the vehicle when the identification of the surrounding of the vehicle is implemented

When the information is intersection identification information, the vehicle is at the intersection position, and the vehicle speed is controlled to run in a preset first vehicle speed interval range. The preset first vehicle speed interval range is a low speed interval range.

When the vehicle is at the intersection position, the vehicle is controlled to run in a low-speed interval range, and when 5 other vehicles appear at the intersection, the vehicle can timely brake and avoid, so that the safety of the vehicle in the running process is improved, and the situation that the vehicle runs is avoided

Dangerous conditions occur.

For example, when the identification information is determined as the intersection identification information, the vehicle is controlled to travel in a vehicle speed section range of 0 km/h to 5 km/h. In addition, when the identification information judges that the intersection identification information is

And when the distance between the vehicle and the intersection position is 10 meters, controlling the vehicle to decelerate, and driving the vehicle to a speed range of 0 km/h to 5 km/h.

Step 1023, in response to determining that the identification information is the lane identification information, controlling the vehicle speed to run in a preset second vehicle speed interval range, and acquiring at least one piece of parking space information around the vehicle in the running process;

wherein the highest value of the first vehicle speed interval range is lower than the lowest value of the second vehicle speed interval range.

When the identification information is lane identification information, the vehicle is indicated to normally run in a lane, and the vehicle speed is controlled to run in a preset second vehicle speed interval range. The preset second vehicle speed interval range is a normal speed interval range. At the same time, at least one piece of parking space information around the vehicle in the running process is acquired through the sensor.

When the vehicle is traveling normally in the lane, the vehicle is controlled to travel in the normal speed range. The vehicle can acquire at least one piece of parking space information around the vehicle when the vehicle runs normally in the lane, and the parking space information is judged, so that the safety of the vehicle in the running process can be ensured.

For example, when the identification information is determined as the lane identification information, the vehicle is controlled to travel in a vehicle speed section range of 6 km/h to 15 km/h in accordance with the lane line. And simultaneously, starting a sensor, and acquiring at least one piece of parking space information around the vehicle in the running process through the sensor.

In the scheme, whether the vehicle is at the intersection or the lane is determined by judging the identification information around the vehicle, and when the vehicle is at the intersection position, the vehicle is controlled to decelerate so that the vehicle can timely brake and avoid under an emergency condition, the safety of the vehicle is ensured, and the occurrence of dangerous working conditions is avoided. When the vehicle is in the normal running of the lane, the vehicle is controlled to normally run, and at least one piece of surrounding parking space information is acquired, so that whether the parking space corresponding to the searching function exists in the at least one piece of parking space information is judged under the condition that the safety of the vehicle is ensured.

In some embodiments, the location information is parking space information.

Step 103 comprises:

step 103A, obtaining at least one parking space information of the vehicle side direction, and judging whether the vehicle side direction has a parking space corresponding to the search function according to the at least one parking space information of the vehicle side direction.

When the opened sensor is a looking-around camera, one function of the looking-around camera is to collect at least one parking space information of the lateral direction of the vehicle. And acquiring at least one piece of parking space information of the lateral direction of the vehicle through the looking-around camera, and judging whether a parking space corresponding to the searching function exists in the at least one piece of parking space information of the lateral direction of the vehicle.

And sequentially judging at least one parking space information of the lateral direction of the vehicle, judging whether other vehicles or barriers exist in the corresponding parking spaces according to the parking space information, and determining the parking space as a target parking space corresponding to the search function when the other vehicles or barriers do not exist in the corresponding parking spaces.

Step 103B, determining that the vehicle side has the parking space corresponding to the searching function, and taking the parking space corresponding to the searching function as a target parking space.

In specific implementation, the target parking space is an idle available parking space capable of parking. And when at least one piece of parking space information on the lateral direction of the vehicle is determined to have an available parking space, taking the available parking space as a target parking space.

In the above scheme, at least one piece of parking space information of the lateral direction of the vehicle is obtained through the looking-around camera, whether the parking space corresponding to the searching function exists in the at least one piece of parking space information of the lateral direction of the vehicle is judged, and the target parking space corresponding to the searching function is determined. The method can realize real-time and accurate judgment of whether the side direction of the vehicle has the target parking space corresponding to the searching function.

In some embodiments, the location information is parking space information.

Step 103 comprises:

step 103a, obtaining at least one parking space information in front of the vehicle, and judging whether a parking space corresponding to the search function exists in a preset distance range in front of the vehicle according to the at least one parking space information in front of the vehicle.

When the opened sensor is a front-view camera, one of the functions of the front-view camera is to collect at least one parking space information in front of the vehicle. And acquiring at least one parking space information in front of the vehicle through the forward-looking camera, and judging whether a parking space corresponding to the search function exists in the at least one parking space information in front of the vehicle. The at least one parking space information in front of the vehicle, which is acquired through the forward-looking camera, is at least one parking space information in a preset distance range in front of the vehicle. For example, at least one parking space information within 100 meters in front of the vehicle is acquired through a front view camera.

And sequentially judging at least one parking space information in front of the vehicle, judging whether other vehicles or barriers exist in the corresponding parking spaces according to the parking space information, and determining the parking space as a target parking space corresponding to the search function when the other vehicles or barriers do not exist in the corresponding parking spaces.

And step 103b, in response to determining that the parking space corresponding to the search function does not exist in the preset distance range in front of the vehicle, controlling the vehicle to steer, and judging at least one piece of parking space information in the preset distance range in front of the steered vehicle.

When the vehicle is in specific implementation, when at least one parking space information in the preset distance range in front does not exist in the parking spaces corresponding to the search function, steering of the vehicle is controlled. After the vehicle turns, at least one parking space information in front of the turned vehicle is obtained, and the judgment process is repeated to judge the at least one parking space information in front of the turned vehicle.

In controlling the steering of the vehicle, it is preferable to control the right steering of the vehicle. And controlling the vehicle to steer right preferentially, conforming to the running rule of the vehicle, and ensuring the safety of the vehicle in the process of determining the target parking space corresponding to the searching function by exploring and advancing.

And step 103c, in response to determining that the parking space corresponding to the searching function exists in the preset distance range in front of the vehicle, taking the parking space corresponding to the searching function as a target parking space.

In specific implementation, the target parking space is an idle available parking space capable of parking. And when at least one piece of parking space information in a preset distance range in front of the vehicle is determined to have an available parking space, taking the available parking space as a target parking space.

In addition, the middle view camera and the front view camera in the above embodiments may be turned on at the same time. When the looking-around camera and the front-view camera are simultaneously started, at least one piece of parking space information of the lateral direction of the vehicle and at least one piece of parking space information of the front direction of the vehicle are simultaneously acquired. And judging whether at least one parking space information on the side of the vehicle and at least one parking space information in front of the vehicle have target parking spaces corresponding to the search function.

In the above scheme, at least one parking space information in a preset distance range in front of the vehicle is obtained through the front-view camera, and whether a parking space corresponding to the search function exists in the at least one parking space information in front of the vehicle is judged, so that a target parking space corresponding to the search function is determined. The method can realize real-time and accurate judgment of whether the target parking space corresponding to the searching function exists in front of the vehicle. And when the target parking space corresponding to the search function does not exist in front of the vehicle, controlling the vehicle to turn to continuously judge at least one parking space information in front of the turned vehicle. The vehicle is controlled to steer right preferentially, the driving rule of the vehicle is met, and the safety of the vehicle in the exploration and advancing process is ensured.

In some embodiments, step 104 comprises:

step 1041, constructing a scene map according to the identification information.

In particular, the identification information of the surroundings of the vehicle refers to parking lot traffic sign information of the surroundings of the vehicle. The identification information includes at least one of: intersection identification information, lane identification information and speed limit identification information.

And constructing a scene map through space fusion judgment according to semantic information such as intersection identification information, lane identification information and the like. The scene map is a simple map constructed on the route around the vehicle so as to determine the scene position where the vehicle is located and the planned route according to the scene map.

Step 1042, determining the scene position of the vehicle according to the scene map.

In the implementation, the vehicle position is acquired through high-precision positioning, and the scene position of the vehicle is determined by combining the constructed scene map. The scene position of the vehicle is the corresponding position of the vehicle in the scene map.

In step 1043, obstacle information around the vehicle is acquired.

In practice, obstacle information around the vehicle is acquired by the sensor. The obstacle information around the vehicle is information about obstacles present on the lane around the vehicle.

And step 1044, performing path planning through a heuristic path searching algorithm according to the scene position of the vehicle and the obstacle information, and determining the optimal route between the vehicle and the target position.

In specific implementation, the heuristic path search algorithm is a path search algorithm. The path search algorithm (A-Star algorithm) is one of the most effective methods for solving the shortest path in a static road network, and is a commonly used heuristic algorithm. The sensing module sends the obstacle information acquired by the sensor to the planning module, and the planning module searches a feasible optimal route through an A-path searching algorithm. And in the running process of the vehicle, the planning module can search the optimal route between the planned vehicle and the target position in a rolling way according to the scene position of the vehicle after the running movement.

In addition, the vehicle can be subjected to early deceleration control according to the acquired obstacle information, and emergency braking can be performed in an emergency.

Step 1045, taking the optimal route as the target route.

In practice, the target route is the optimal route between the vehicle and the target location. And when determining to plan the route between the vehicle and the target position to obtain an optimal route, taking the optimal route as the target route. The control module controls the vehicle to travel to a target position according to a target route through steering, driving and braking.

In the above scheme, the constructed scene map is a simple map of the route around the vehicle, and is not a complete map constructed for the entire parking lot. The construction of the scene map can be completed rapidly in real time, and resources are saved. When the path planning is carried out between the vehicle and the target position, the planning module can roll and search the optimal path between the scene position of the vehicle and the target position after the planning driving movement in the driving process of the vehicle, the optimal path can be updated in time, the problem that the optimal path is wrong in the driving process of the vehicle and the vehicle runs according to the wrong path is avoided, and the efficiency of parking or driving the vehicle out of a parking lot is improved.

In some embodiments, step 1044 comprises:

step 1044A, performing path planning by using a heuristic path searching algorithm according to the scene position of the vehicle and the target position, and determining a feasible route between the vehicle and the parking space of the target position.

In specific implementation, a planning module at the vehicle end searches and determines a feasible route between the vehicle and the target position according to the scene position and the target position of the vehicle through an A-path searching algorithm.

Step 1044B, performing path planning by using a heuristic path search algorithm according to the feasible route and combining the obstacle information, so as to determine an optimal route between the vehicle and the target location.

In specific implementation, a perception module at a vehicle end sends obstacle information acquired by a sensor to a planning module, and the planning module eliminates a route with the obstacle from a feasible route through an A-path search algorithm to determine an optimal route without the obstacle.

And step 1044C, updating the optimal route according to the scene position after the vehicle is driven and moved.

In the implementation, during the running process of the vehicle, the planning module can search and plan the optimal route between the vehicle and the target position in a rolling way according to the scene position of the vehicle after the running movement.

In the scheme, when the path planning is carried out between the vehicle and the target position, the planning module can roll and search the optimal path between the scene position of the vehicle and the target position after the planning driving movement in the driving process of the vehicle, so that the optimal route can be updated in time, the problem that the optimal route is wrong in the driving process of the vehicle and the vehicle is driven according to the wrong route is avoided, and the efficiency of parking or driving away from a parking lot of the vehicle is improved.

It should be noted that the embodiments of the present disclosure may be further described in the following manner:

as shown in fig. 2, fig. 2 is a schematic diagram of parking control according to an embodiment of the present disclosure. During the running process of the vehicle, the process of identifying the parking space and the exit comprises the following four situations:

case one: the front binocular camera (i.e., the forward looking camera) recognizes the traffic sign, the front Fang Chewei (containing obstacle information). The front part is provided with a parking space which can advance according to traffic signs.

And a second case: the front binocular camera (i.e., the forward looking camera) recognizes the traffic sign, the front Fang Chewei (containing obstacle information). The front berthable parking space is prioritized to turn right under the condition of not violating the mark.

Case three: the looking-around camera (right side) recognizes that the parking space starts the automatic parking process.

Case four: the berthing is indicated by the identification of the exit of the double-current-view camera or the surrounding-view camera.

1. and determining a target parking space.

After the driver enters the public parking lot, the automatic parking space searching function is started. The sensors mainly used in the process are a front-view camera, a round-view camera and an ultrasonic radar. The forward looking camera can identify distance location information of the target. The function of the forward-looking camera is to identify the identification information (such as traffic identification information, intersection identification information and lane identification information) around the vehicle, and through the semantic information judged by the identification information and space fusion, the vehicle is decelerated to below 5km/h 10 meters before encountering an intersection, and then brake avoidance is prepared at any time, and the ultrasonic radar is fused to assist in obstacle avoidance. The vehicle front view cameras (for example, double current view cameras) recognize traffic identification information and lane identification information in the parking lot, travel at a speed of not more than 15km/h according to lane lines, and simultaneously the surrounding view cameras synchronously recognize parking spaces laterally corresponding to the search function. Judging whether a parking space corresponding to the searching function exists in the front 100 meters or not (detecting whether two corner points in front of the parking space and the parking space have barriers or not) by combining the effective detection range of the front camera, if so, continuing to search forwards for the parking space corresponding to the searching function; if the parking space corresponding to the searching function is not available in the front 100 meters, the vehicle rotates right preferentially according to the traffic identification information on the premise of not violating the traffic identification of the parking lot, otherwise, the vehicle rotates left to continue searching until the target parking space corresponding to the searching function is searched, and then the vehicle stops automatically. If the user selects to park in the target parking space, the system automatically completes the parking process; if the user selects to continue searching, the parking space corresponding to the searching function is continued to be searched until the user confirms the target parking space to be parked, and parking is completed.

2. And determining a first target route between the vehicle and the target parking space through path planning.

And constructing a scene map through semantic information of parking scenes identified by the front-view cameras and the around-view cameras, and simultaneously determining the position of the vehicle by combining an inertial navigation unit on the vehicle. And when encountering an obstacle, the vehicle is decelerated in advance by using a sensor fusion technology (a camera and an ultrasonic radar), and emergency braking is performed in an emergency. And the sensing module at the vehicle end sends the scene map which contains the obstacle information after being fused by the sensor to a planning layer, searches a first optimal route between the vehicle and the target parking space through an A-path searching algorithm, and continuously performs rolling search until the looking-around camera recognizes the final destination information of the target parking space. The first optimal route planned by the planning layer is an ideal target curve, and the control system is used for controlling the steering, driving and braking of the vehicle to complete the vehicle control until the parking process is completed.

3. And determining a target exit, and determining a second target route between the vehicle and the target exit through path planning.

When the user is ready to drive the vehicle away from the public parking lot, "auto search exit function" may be selected. The sensors mainly used for the function are a front-view camera, a round-view camera and an ultrasonic radar. The vehicle camera recognizes traffic identification information and exit information in the parking lot, and the exit information includes exit guidance indication information and exit flag information. The vehicle automatically searches for an exit along the lane line at a speed of not more than 15km/h, and encounters an intersection to decelerate to 5km/h 10 meters in advance, so that a stopping obstacle (an auxiliary obstacle avoidance by combining ultrasonic radars) is prepared at any time. And meanwhile, identifying exit guide indication information (such as an exit guide arrow), indicating the vehicle to run according to the exit guide arrow, constructing a scene map by combining semantic information identified by the front-view camera and the round-the-look camera, adopting an A-path searching algorithm to draw a second optimal route between the vehicle and a target exit, and continuously performing rolling planning until exit mark information (such as a toll bar) is identified and stopping is carried out, and taking over by a driver. After the second optimal route is planned, the delivery control system controls the steering, driving and braking of the vehicle to enable the actual running track of the vehicle to follow the second optimal route until the vehicle is driven out of the parking lot.

It should be noted that the method of the embodiments of the present disclosure may be performed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present disclosure, the devices interacting with each other to accomplish the methods.

It should be noted that the foregoing describes some embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Based on the same inventive concept, the present disclosure also provides a parking control device corresponding to the method of any embodiment.

Referring to fig. 3, the parking control apparatus includes:

an identification information acquisition module 301 configured to acquire identification information around a vehicle;

a location information obtaining module 302 configured to determine that a search function of the vehicle is turned on, control the vehicle to travel according to the identification information, and obtain at least one location information around the vehicle during the travel;

a judging module 303 configured to judge whether or not a target position corresponding to the search function exists in the at least one piece of position information;

A path planning module 304 configured to determine a target route between the vehicle and the target location through path planning in response to determining that the target location exists;

the vehicle control module 305 is configured to control the vehicle to travel to the target position according to the target route.

The position information acquisition module 302 includes:

and the parking space searching function starting unit is configured to determine that the parking space searching function of the vehicle is started.

The judging module 303 includes:

and the parking space judging unit is configured to judge whether a target parking space corresponding to the parking space searching function exists in the at least one parking space information.

Or alternatively, the process may be performed,

the position information acquisition module 302 includes:

and a search exit function opening unit configured to determine that the search exit function of the vehicle is open.

And an outlet judging unit configured to judge whether or not there is a target outlet corresponding to the search outlet function in the at least one outlet information.

The position information acquisition module 302 includes:

an identification information judgment unit configured to perform judgment processing on the identification information;

a vehicle speed control unit configured to control a vehicle speed to travel within a preset first vehicle speed section range in response to determining that the identification information is the intersection identification information;

a parking space information acquisition unit configured to control a vehicle speed to travel in a preset second vehicle speed section range and acquire the at least one parking space information around the vehicle in the traveling process in response to determining that the identification information is the lane identification information;

In some embodiments, the location information is parking space information.

The judging module 303 includes:

the first vehicle position judging unit is configured to acquire at least one vehicle position information of the vehicle side direction, and judge whether the vehicle side direction has a vehicle position corresponding to the searching function according to the at least one vehicle position information of the vehicle side direction;

the first target parking space determining unit is configured to determine that the parking space corresponding to the searching function exists laterally of the vehicle, and takes the parking space corresponding to the searching function as a target parking space.

In some embodiments, the location information is parking space information.

The judging module 303 includes:

the second vehicle position judging unit is configured to acquire at least one vehicle position information in front of the vehicle, and judge whether a vehicle position corresponding to the searching function exists in a preset distance range in front of the vehicle according to the at least one vehicle position information in front of the vehicle;

a steering control unit configured to control the vehicle to steer in response to determining that there is no parking space corresponding to the search function within the preset distance range in front of the vehicle, and determine at least one parking space information within the preset distance range in front of the vehicle after steering;

and the second target parking space determining unit is configured to take the parking space corresponding to the searching function as a target parking space in response to determining that the parking space corresponding to the searching function exists in the preset distance range in front of the vehicle.

In some embodiments, path planning module 304 includes:

a scene map construction unit configured to construct a scene map according to the identification information;

a position determining unit configured to determine a scene position of a vehicle from the scene map;

an obstacle information acquisition unit configured to acquire obstacle information around the vehicle;

The path planning unit is configured to carry out path planning through a heuristic path searching algorithm according to the scene position of the vehicle and the obstacle information, and determine the optimal route between the vehicle and the target position;

and a target route determination unit configured to take the optimal route as the target route.

In some embodiments, the path planning unit comprises:

a feasible route determining subunit configured to perform path planning through a heuristic path searching algorithm according to the scene position and the target position of the vehicle, and determine a feasible route between the vehicle and the target position;

an optimal route determining subunit configured to perform route planning by a heuristic route searching algorithm according to the feasible route and the obstacle information, and determine an optimal route between the vehicle and the target position;

and the optimal route updating subunit is configured to update the optimal route according to the scene position after the vehicle is driven and moved.

For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of the various modules may be implemented in the same one or more pieces of software and/or hardware when implementing the present disclosure.

The device of the foregoing embodiment is used to implement the corresponding parking control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

Based on the same inventive concept, the present disclosure also provides an electronic device corresponding to the method of any embodiment, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor implements the parking control method of any embodiment when executing the program.

Fig. 4 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.

The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.

Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through wired mode (such as USB (Universal Serial Bus, universal serial bus), network cable, etc.), or may implement communication through wireless mode (such as mobile network, WIFI (Wireless Fidelity, wireless network communication technology), bluetooth, etc.).

Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).

It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.

The electronic device of the foregoing embodiment is configured to implement the corresponding parking control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

Based on the same inventive concept, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the parking control method according to any of the above embodiments, corresponding to the method of any of the above embodiments.

The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

The storage medium of the foregoing embodiments stores computer instructions for causing the computer to execute the parking control method according to any one of the foregoing embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.

Based on the same inventive concept, the application also provides a vehicle corresponding to the method of any embodiment, which comprises the parking control device or the electronic equipment in the embodiment, and the vehicle equipment realizes the parking control method of any embodiment.

The vehicle of the foregoing embodiments is used to implement the parking control method described in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein.

Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined under the idea of the present disclosure, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in details for the sake of brevity.

Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present disclosure. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present disclosure, and this also accounts for the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform on which the embodiments of the present disclosure are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the embodiments of the disclosure, are intended to be included within the scope of the disclosure.

Claims

1. A parking control method, the method comprising:

acquiring identification information around a vehicle;

2. The method of claim 1, wherein the location information comprises: parking space information or exit information; the search function includes: a search parking space function or a search exit function;

the determining that the search function of the vehicle is on includes:

determining that a parking space searching function of the vehicle is started;

the determining whether the target position corresponding to the search function exists in the at least one piece of position information includes:

judging whether a target parking space corresponding to the parking space searching function exists in the at least one parking space information; or alternatively, the process may be performed,

the determining that the search function of the vehicle is on includes:

determining that a search exit function of the vehicle is on;

and judging whether a target outlet corresponding to the searching outlet function exists in the at least one outlet message.

3. The method of claim 1, wherein the location information is parking space information; the identification information comprises intersection identification information and lane identification information;

The step of controlling the vehicle to run according to the identification information and obtaining at least one piece of position information around the vehicle in the running process comprises the following steps:

judging the identification information;

controlling the vehicle speed to run in a preset first vehicle speed interval range in response to the fact that the identification information is the intersection identification information;

in response to determining that the identification information is the lane identification information, controlling the vehicle speed to run in a preset second vehicle speed interval range, and acquiring at least one piece of parking space information around the vehicle in the running process;

4. The method of claim 1, wherein the location information is parking space information; the determining whether the target position corresponding to the search function exists in the at least one piece of position information includes:

acquiring at least one piece of parking space information of a vehicle side direction, and judging whether the vehicle side direction has a parking space corresponding to the searching function according to the at least one piece of parking space information of the vehicle side direction;

and determining that the vehicle side has the parking space corresponding to the searching function, and taking the parking space corresponding to the searching function as a target parking space.

5. The method of claim 1, wherein the location information is parking space information; the determining whether the target position corresponding to the search function exists in the at least one piece of position information includes:

acquiring at least one parking space information in front of a vehicle, and judging whether a parking space corresponding to the search function exists in a preset distance range in front of the vehicle according to the at least one parking space information in front of the vehicle;

in response to determining that the parking space corresponding to the searching function does not exist in the preset distance range in front of the vehicle, controlling the vehicle to steer, and judging at least one piece of parking space information in the preset distance range in front of the steered vehicle;

and responding to the fact that the parking space corresponding to the searching function exists in the preset distance range in front of the vehicle, and taking the parking space corresponding to the searching function as a target parking space.

6. The method of claim 1, wherein the determining a target route between a vehicle and the target location via path planning comprises:

constructing a scene map according to the identification information;

determining a scene position of the vehicle according to the scene map;

Acquiring obstacle information around a vehicle;

according to the scene position of the vehicle and the obstacle information, path planning is carried out through a heuristic path searching algorithm, and an optimal route between the vehicle and the target position is determined;

and taking the optimal route as the target route.

7. The method of claim 6, wherein the determining the optimal route between the vehicle and the target location by performing path planning through a heuristic path search algorithm based on the scene location of the vehicle and the obstacle information comprises:

according to the scene position of the vehicle and the target position, path planning is carried out through a heuristic path searching algorithm, and a feasible route between the vehicle and the target position is determined;

according to the feasible route, combining the obstacle information, carrying out path planning through a heuristic path searching algorithm, and determining an optimal route between the vehicle and the target position;

and updating the optimal route according to the scene position after the vehicle runs and moves.

8. A parking control apparatus, characterized by comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 7 when the program is executed.

10. A vehicle characterized by comprising the parking control apparatus according to claim 8 or the electronic device according to claim 9.