CN116238539A

CN116238539A - Road side parking method and system for automatic driving vehicle

Info

Publication number: CN116238539A
Application number: CN202310110377.1A
Authority: CN
Inventors: 王宏
Original assignee: Shenzhen Binneng Electric Technology Co ltd
Current assignee: Shenzhen Binneng Electric Technology Co ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-06-09

Abstract

The invention provides a road side parking method and system for an automatic driving vehicle; wherein the method comprises the following steps: responding to a road side parking requirement, and acquiring first detection data of a first parking area; determining first attribute data of a public station according to the first detection data, and predicting second attribute data of a public vehicle related to the public station according to the first attribute data; and determining a second parking area according to the first attribute data and the second attribute data, and controlling the automatic driving vehicle to drive into the second parking area. According to the scheme, the road side parking area of the automatic driving vehicle is determined through analysis of the attribute data of the public station and the parked vehicles, so that the safety of road side parking is ensured.

Description

Road side parking method and system for automatic driving vehicle

Technical Field

The invention relates to the technical field of automatic driving, in particular to a road side parking method, a system, electronic equipment and a computer storage medium of an automatic driving vehicle.

Background

With the rapid development of various technologies such as sensing detection, information transmission and information processing, the automatic driving technology has been primarily implemented in some scenes and has been rapidly developed. Roadside parking is a conventional driving situation of automatically driving a vehicle, and the area where the roadside parking is usually close to pedestrians, non-motor vehicles and the like in height is extremely easy to cause driving safety problems. Particularly, the taking stations of public transportation such as bus stations are also positioned near the road side parking areas, so that the public transportation vehicles and people waiting for taking buses are more likely to have driving safety problems.

The existing automatic driving technology solves the problem of road side parking safety in the scene, which relates to less and difficult to ensure the safety of automatic driving.

Disclosure of Invention

In order to at least solve the technical problems in the prior art, the invention provides a road side parking method, a system, electronic equipment and a computer storage medium of an automatic driving vehicle.

The first aspect of the present invention provides a road side parking method for an autonomous vehicle, which is applied to an autonomous vehicle, comprising the steps of:

responding to a road side parking requirement, and acquiring first detection data of a first parking area;

determining first attribute data of a public station according to the first detection data, and predicting second attribute data of a public vehicle related to the public station according to the first attribute data;

and determining a second parking area according to the first attribute data and the second attribute data, and controlling the automatic driving vehicle to drive into the second parking area.

Further, before the acquiring the first detection data of the first parking area, the method further includes:

and acquiring second detection data of a third parking area, judging whether the third parking area meets preset conditions according to the second detection data, and if so, determining the first parking area according to the third parking area.

Further, the determining the first attribute data of the public station according to the first probe data includes:

identifying the first detection data to identify a first object, and if the identification is successful, determining a plurality of second objects and fourth attribute data thereof according to third attribute data of the first object;

and determining the first attribute data of the public site according to the third attribute data and the fourth attribute data.

Further, the determining the first attribute data of the public site according to the third attribute data and the fourth attribute data includes:

determining first grade data of the public site according to the third attribute data, and determining second grade data of the public site according to the fourth attribute data;

obtaining a union of the first level data and the second level data to obtain third level data;

and determining the first attribute data of the public site according to the third grade data.

Further, predicting, according to the first attribute data, second attribute data of a public vehicle related to the public station, including:

the first attribute data is input into a predictive model that outputs second attribute data for a public vehicle associated with the public station.

Further, the determining a second parking area according to the first attribute data and the second attribute data includes:

and determining a fourth parking area according to the first attribute data, and correcting the fourth parking area according to the second attribute data to obtain the second parking area.

Further, the determining a fourth parking area according to the first attribute data includes:

and determining an automatic driving evaluation value of the public vehicle at the public station according to the first attribute data, and determining the fourth parking area according to the automatic driving evaluation value.

The second aspect of the invention provides a road side parking system of an automatic driving vehicle, which comprises an acquisition module, a processing module and a storage module; the processing module is connected with the acquisition module and the storage module;

the memory module is used for storing executable computer program codes;

the acquisition module is used for acquiring detection data of the road side parking area and transmitting the detection data to the processing module;

the processing module is configured to perform the method of any of the preceding claims by invoking the executable computer program code in the storage module.

A third aspect of the present invention provides an electronic device comprising: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the method of any one of the preceding claims.

A fourth aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs a method as claimed in any one of the preceding claims.

The invention has the beneficial effects that:

according to the scheme, the road side parking area of the automatic driving vehicle is determined through analysis of the attribute data of the public station and the parked vehicles, so that the safety of road side parking is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a method for roadside parking of an autonomous vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a road side parking system for an autonomous vehicle according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Referring to fig. 1, fig. 1 is a flow chart of a road side parking method of an automatic driving vehicle according to an embodiment of the invention. As shown in fig. 1, a road side parking method of an automatic driving vehicle according to an embodiment of the present invention is applied to an automatic driving vehicle, and includes the following steps:

According to the scheme, when the automatic driving vehicle needs to implement roadside parking, the attribute data of the public station of the initial first parking area is firstly acquired, the attribute data of the public vehicle which needs to be parked at the station is predicted according to the attribute data, and then a more reasonable roadside parking area can be determined. Therefore, the scheme of the invention determines the road side parking area of the automatic driving vehicle through analyzing the attribute data of the public station and the parked vehicle, and ensures the safety of road side parking.

The detection data can be obtained by vehicle-mounted sensors, such as cameras, microwave radars, lidars, etc.

In this embodiment, the present invention preferably performs roadside parking in the vicinity of a non-public station, unless other areas have been parked by other vehicles or obstacles, or other areas have difficulty in meeting convenience requirements (distance, parking space charge or the like) of the roadside parking, or the like, the method of the present invention is performed, i.e., parking in an area adjacent to the public station. Accordingly, the aforementioned preset conditions are set at least according to the above-described situation.

The first parking area may be at least partially located in the third parking area, or may be adjacent (directly or indirectly) to the third parking area, which is not limited by the present invention.

In this embodiment, public stations typically arrange significant identifiers such as bus stop boards and text labels, and by identifying these identifiers, it can be preliminarily determined whether public stations exist in the area; then, the second object, which is an accessory such as a sunshade and a seat related to the public station, is associated, and the attribute data of the first object and the second object are combined to determine the first attribute data of the public station, such as a boundary area, a scale, whether the parking of the automatic driving vehicle is supported, and the like.

In this embodiment, the significant identifiers of the public stations may include information about bus routes, such as the number of routes, the number of stations of each route, whether the bus is an automatic driving vehicle, and the number of significant identifiers, and the first level data of the public stations may be determined according to these information. Meanwhile, the second level data of the public station can be determined according to the related information of other auxiliary facilities of the public station, such as sunshades, seats and the like, such as the size of the sunshades, the length and/or the number of the seats and the like. The third grade data of the site can be determined by combining the grade data of the two aspects, and the first attribute data can be obtained by carrying out appropriate combination processing on each grade element in the third grade data.

In order to facilitate the subsequent processing, the level data and the first attribute data may be quantized, and the level data and the first attribute data may be single quantized values or may be data matrices of quantized values corresponding to preset level elements. For the specific quantization calculation formula, details are not described here.

In this embodiment, the training set is previously acquired according to configuration rule data between the public station and the public vehicle to establish the training set, and the prediction model is trained by using the training set, so that the functional relationship between the public station and the public vehicle can be obtained.

Wherein the training set comprises a number of data pairs [ a, b ], wherein a may comprise the number of lines, the number of stations of each line, the number of significant markers, the size of sunshades of public stations, the length and/or number of seats, etc., and b may comprise the length of public vehicles, the body form (bicycle body, articulated body, etc.).

In this embodiment, screening the target roadside parking area includes two steps, firstly, preliminarily determining a fourth parking area according to first attribute data related to a public station, for example, the first attribute data indicate that bus lines born by the station are more, the probability of simultaneous parking of a plurality of public vehicles is higher, and a larger parking space is required, and at the moment, the fourth parking area can be determined at a place farther from the public station; on the other hand, the fourth parking area is determined closer to the public station (especially when the road side parking area is obviously insufficient, the parking success rate and the safety of the automatic driving vehicle can be improved by properly biasing the public station).

Then, correcting the preliminarily determined fourth parking area according to the second attribute data of the public vehicle obtained by prediction, for example, the second attribute data indicates that the public vehicle hung on the vehicle body needs to park at the station, and the public vehicle hung on the vehicle body needs a larger parking space, and at the moment, the fourth parking area can be corrected to be properly far away from the public station; if the second attribute data indicates that most of the buses parked at the public station are buses, the buses are judged to only need smaller parking space, and the fourth parking area can be corrected to be properly close to the public station.

The functional relationship between the corresponding element and the correction coefficient may be determined at least according to the above situation, and the specific calculation formula for calculating the correction coefficient is not described herein.

In this embodiment, the public vehicle includes both a manual driving vehicle and an automatic driving vehicle, and the parking styles of the manual driving vehicle and the automatic driving vehicle at the public station are obviously different, specifically, the driver of the manual driving vehicle has more skillful and confident technology, so that the situation of the parking space which can be adapted to the manual driving vehicle is wider, in other words, the driver can realize safe parking in a narrower space by virtue of the excellent driving technology, and the automatic driving vehicle is limited by factors such as conservative parameter calibration, technical development degree and the like, so that a larger parking space is generally required.

In view of the above-described practical situation, the present invention sets a distance to the public station to determine the fourth parking area based on the automated driving evaluation value of the public station, and the distance is positively correlated with the automated driving evaluation value. In other words, the higher the automated driving evaluation value, the more automated driving vehicles are supported by the public station, the more automated driving vehicles are stopped, the more frequent the automated driving vehicles are stopped, and the like, at this time, the automated driving vehicle that needs to be stopped at the road side, that is, the host vehicle is set to be properly far from the public station; on the other hand, the higher the automated driving evaluation value, which indicates that the public station does not support the automated driving vehicle to stop, or that the automated driving vehicle is less although the stop is supported, the automated driving vehicle is not frequently stopped, and the like, at this time, the host vehicle may be set to be appropriately close to the public station.

It should be noted that this embodiment is an inclusive improvement to the foregoing embodiment, and is not an alternative improvement, that is, the fourth parking area is determined based on not only the automated driving evaluation value.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a road side parking system of an automatic driving vehicle according to an embodiment of the invention. As shown in fig. 2, a road side parking system of an automatic driving vehicle according to an embodiment of the present invention includes an acquisition module (101), a processing module (102), and a storage module (103); the processing module (102) is connected with the acquisition module (101) and the storage module (103);

-said storage module (103) for storing executable computer program code;

the acquisition module (101) is used for acquiring detection data of the road side parking area and transmitting the detection data to the processing module (102);

-said processing module (102) for executing the method according to any of the preceding claims by invoking said executable computer program code in said storage module (103).

The specific function of the road side parking system for the automatic driving vehicle in this embodiment refers to the above embodiment, and since the system in this embodiment adopts all the technical solutions of the above embodiment, at least the system has all the beneficial effects brought by the technical solutions of the above embodiment, and will not be described in detail herein.

Referring to fig. 3, fig. 3 is an electronic device according to an embodiment of the present invention, including: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the method as described in the previous embodiment.

The embodiment of the invention also discloses a computer storage medium, and a computer program is stored on the storage medium, and when the computer program is run by a processor, the computer program executes the method according to the previous embodiment.

The processor in the electronic device of the present invention may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) or a computer program loaded from a memory into a Random Access Memory (RAM). In RAM, various programs and data required for operation can also be stored. The processor, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.

A plurality of components in an electronic device are connected to an I/O interface, comprising: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; a storage unit such as a magnetic disk, an optical disk, or the like; and communication units such as network cards, modems, wireless communication transceivers, and the like. The communication unit allows the device to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of processors include, but are not limited to, central Processing Units (CPUs), graphics Processing Units (GPUs), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processors, controllers, microcontrollers, and the like. The processor performs the various methods and processes described above, such as a road side parking method of an autonomous vehicle. For example, in some embodiments, the road side parking method of an autonomous vehicle may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as a memory. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device via the ROM and/or the communication unit. When the computer program is loaded into RAM and executed by the processor, one or more steps of the above-described road side parking method of an autonomous vehicle may be performed. Alternatively, in other embodiments, the processor may be configured to perform a road side parking method of the autonomous vehicle in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with passengers, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the passenger; and a keyboard and pointing device (e.g., a mouse or trackball) by which the passenger can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a passenger; for example, feedback provided to the occupant may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the occupant may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a passenger computer having a graphical passenger interface or a web browser through which a passenger can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A roadside parking method of an autonomous vehicle, applied to an autonomous vehicle, comprising the steps of:

2. A roadside parking method for an autonomous vehicle according to claim 1 wherein: before the acquiring the first detection data of the first parking area, the method further includes:

3. A roadside parking method for an autonomous vehicle according to claim 1 or 2, characterized in that: the determining the first attribute data of the public station according to the first probe data comprises the following steps:

4. A roadside parking method for an autonomous vehicle according to claim 3, characterized in that: the determining the first attribute data of the public site according to the third attribute data and the fourth attribute data comprises the following steps:

5. A roadside parking method for an autonomous vehicle according to claim 1 or 4, characterized in that: the predicting, according to the first attribute data, second attribute data of a public vehicle related to the public station, including:

6. A roadside parking method for an autonomous vehicle according to claim 5 wherein: the determining a second parking area according to the first attribute data and the second attribute data comprises:

7. A roadside parking method for an autonomous vehicle according to claim 6 wherein: the determining a fourth parking area according to the first attribute data comprises the following steps:

8. A road side parking system of an automatic driving vehicle comprises an acquisition module, a processing module and a storage module; the processing module is connected with the acquisition module and the storage module;

the memory module is used for storing executable computer program codes;

the processing module for performing the method of any of claims 1-7 by invoking the executable computer program code in the storage module.

9. An electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the method is characterized in that: the processor invokes the executable program code stored in the memory to perform the method of any of claims 1-7.

10. A computer storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, performs the method of any of claims 1-7.