CN118124559A

CN118124559A - Vehicle parking control method and device, vehicle and storage medium

Info

Publication number: CN118124559A
Application number: CN202211501517.XA
Authority: CN
Inventors: 李飞; 刘立业
Original assignee: Beijing Didi Infinity Technology and Development Co Ltd
Current assignee: Beijing Didi Infinity Technology and Development Co Ltd
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2024-06-04

Abstract

The embodiment of the disclosure relates to a vehicle parking control method, a vehicle parking control device, a vehicle and a storage medium. The method comprises the following steps: in the vehicle parking process, determining the relative position relationship between the vehicle and a reference vehicle according to a grid map corresponding to the reference vehicle in a preset range around the vehicle; if the relative position relation accords with a preset condition, determining a first distance value according to the grid map; the first distance value is the length value of the largest grid close to one side of the vehicle in the grid map; determining a parking stop line of the vehicle according to the first distance value and a second distance value acquired in advance; the second distance value is the distance between the vehicle body, which is close to the parking space side, of the vehicle and the boundary line of the parking space after the vehicle is parked out; and controlling the vehicle to be parked according to the parking stop line of the vehicle. By adopting the method, the success rate of vehicle parking can be improved.

Description

Vehicle parking control method and device, vehicle and storage medium

Technical Field

The embodiment of the disclosure relates to the technical field of automatic parking, in particular to a vehicle parking control method, a vehicle parking control device, a vehicle and a storage medium.

Background

With the development of automatic parking technology, vehicles with automatic parking function are also gradually popularized, so that the vehicle parking requirements in most scenes are well met, and the time of users is saved while the safety is ensured.

However, in the vehicle parking scene, the conventional method is to set a parking stop line of the vehicle in advance and automatically control the vehicle to park, but the conventional method has a problem of easily causing a failure in parking the vehicle.

Disclosure of Invention

The embodiment of the disclosure provides a vehicle parking control method, a vehicle parking control device, a vehicle and a storage medium, which can be used for improving the success rate of vehicle parking.

In a first aspect, an embodiment of the present disclosure provides a vehicle parking control method, including:

In the vehicle parking process, determining the relative position relationship between the vehicle and the reference vehicle according to a grid map corresponding to the reference vehicle in a preset range around the vehicle;

If the relative position relation accords with the preset condition, determining a first distance value according to the grid map; the first distance value is the length value of the largest grid on one side, close to the vehicle, of the grid map;

Determining a parking stop line of the vehicle according to the first distance value and a second distance value acquired in advance; the second distance value is the distance between the vehicle body, which is close to the parking space side, of the vehicle after the vehicle is parked out and the boundary line of the parking space;

And controlling the vehicle to park according to the park stop line of the vehicle.

In a second aspect, embodiments of the present disclosure provide a vehicle parking control apparatus, the apparatus comprising:

the first determining module is used for determining the relative position relationship between the vehicle and the reference vehicle according to the grid map corresponding to the reference vehicle in the preset range around the vehicle in the vehicle parking process;

The second determining module is used for determining a first distance value according to the grid map if the relative position relation accords with a preset condition; the first distance value is the length value of the largest grid on one side, close to the vehicle, of the grid map;

The third determining module is used for determining a parking stop line of the vehicle according to the first distance value and the second distance value which is acquired in advance; the second distance value is the distance between the vehicle body, which is close to the parking space side, of the vehicle after the vehicle is parked out and the boundary line of the parking space;

And the control module is used for controlling the vehicle to be parked according to the parking stop line of the vehicle.

In a third aspect, embodiments of the present disclosure provide a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of the first aspect described above when executing the computer program.

In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect described above.

In a fifth aspect, embodiments of the present disclosure provide a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect described above.

According to the vehicle parking control method, device, vehicle and storage medium, in the vehicle parking process, the relative position relationship between the vehicle and the reference vehicle can be determined according to the grid map corresponding to the reference vehicle in the preset range around the vehicle; when the relative position relation accords with the preset condition, the length value of the maximum grid close to the vehicle side in the grid map is determined to be a first distance value, a parking stop line is further determined according to the first distance value and a second distance between a vehicle body close to the parking space side and a parking space boundary line of the vehicle after the vehicle is parked, and the vehicle parking is controlled according to the parking stop line.

Drawings

FIG. 1 is a schematic diagram of a parking scenario for a vertical parking spot in the prior art;

FIG. 2 is a schematic diagram of a vehicle parking failure in the prior art;

FIG. 3 is an application environment diagram of a vehicle park out control method in one embodiment;

FIG. 4 is a flow chart of a vehicle park out control method according to one embodiment;

FIG. 5 is a schematic illustration of a vehicle park out position in one embodiment;

FIG. 6 is a flow chart of a vehicle park out control method according to another embodiment;

FIG. 7 is a flow chart of a vehicle park out control method according to another embodiment;

FIG. 8 is a schematic diagram of a curve determination of a vehicle park out control method according to one embodiment;

FIG. 9 is a flow chart of a vehicle park out control method according to another embodiment;

FIG. 10 is a flow chart of a vehicle park out control method according to another embodiment;

FIG. 11 is a flow chart of a vehicle park out control method according to another embodiment;

FIG. 12 is a block diagram of a vehicle parking control apparatus in one embodiment;

FIG. 13 is a block diagram showing a structure of a vehicle parking control apparatus in another embodiment;

FIG. 14 is a block diagram showing a structure of a vehicle parking control apparatus in another embodiment;

FIG. 15 is a block diagram showing a structure of a vehicle parking control apparatus in another embodiment;

Fig. 16 is an internal structural diagram of an electronic device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the disclosed embodiments and are not intended to limit the disclosed embodiments.

First, before the technical solution of the embodiments of the present disclosure is specifically described, a description is given of a technical background or a technical evolution context on which the embodiments of the present disclosure are based. In general, in the field of automatic parking of vehicles, the current technical background is: when the vehicle is automatically parked, the parking position of the default vehicle is standard, and the parking direction is controlled according to the preset parking direction by presetting the parking distance and the parking stop line, but the existing vehicle parking method cannot timely detect complete road environment information and obstacle information on the left side and the right side in the vehicle parking process when the vehicle is parked deeply or is inclined from the vehicle as shown in fig. 1, and the problems that the parking failure is caused by collision in the vehicle parking process as shown in fig. 2 and the posture of the vehicle is uncontrollable after the vehicle is parked can occur in the vehicle parking process. In addition, it should be noted that, from the problem that the conventional parking method causes a collision in the parking process of the vehicle to cause a parking failure and the posture of the vehicle after the parking is uncontrollable, and the technical solutions described in the following embodiments, the applicant has made a great deal of creative work.

The following describes a technical scheme related to an embodiment of the present disclosure in conjunction with a scenario in which the embodiment of the present disclosure is applied.

The vehicle parking control method provided by the embodiment of the application can be applied to an application environment shown in fig. 3. The target vehicle 201 and the reference vehicle 202 may each be various motor vehicles, for example, a car, a truck, or the like, and the target vehicle 201 and the reference vehicle 202 may each include an in-vehicle image pickup apparatus, a radar apparatus, or the like. Wherein the target vehicle 201 and the reference vehicle 202 are provided with processing components which can communicate with the in-vehicle image pickup apparatus and the radar apparatus in a wireless manner or can communicate with the in-vehicle image pickup apparatus and the radar apparatus in a wired manner. The communication manner between the processing component and the vehicle-mounted device and the radar device is not limited in the embodiment of the disclosure.

In one embodiment, as shown in fig. 4, a vehicle parking control method is provided, and the method is applied to the target vehicle in fig. 1 for illustration, and includes the following steps:

S201, in the vehicle parking process, according to a grid map corresponding to a reference vehicle in a preset range around the vehicle, determining a relative position relationship between the vehicle and the reference vehicle.

In this embodiment, the vehicle may be parked in a vertical parking space or in an oblique parking space, and the reference vehicles within the preset range around the vehicle may be vehicles parked on the left side and/or the right side of the vehicle parking position, that is, the reference vehicles in this embodiment may be one or two vehicles, and it is understood that the reference vehicles may be vehicles on either the left side or the right side of the vehicle when the reference vehicles are one, and may be vehicles on the left side or the right side of the vehicle when the reference vehicles are two vehicles. Alternatively, in this embodiment, the vehicle may be parked in the parking space according to the standard parking specification, or the vehicle may be parked deeper in the parking space, or the vehicle may be parked obliquely in the parking space.

The grid map refers to an image that has been discretized in terms of space and brightness, and a grid image may be considered as a matrix, where any element in the matrix corresponds to a point in the image, and the corresponding value corresponds to the gray level of the point, and elements in the digital matrix are called pixels, that is, the grid map corresponding to the reference vehicle in this embodiment may be an image that has been discretized in terms of space and brightness for the reference vehicle. Alternatively, in the present embodiment, the vehicle may generate a grid map corresponding to the reference vehicle through the self-installed looking-around camera and radar.

Alternatively, in this embodiment, the relative positional relationship between the vehicle and the reference vehicle may be a distance between the vehicle and the reference vehicle, or may be a relative angle between the vehicle and the reference vehicle, or may be a relative parking position between the vehicle and the reference vehicle. Optionally, in this embodiment, the vehicle may determine, according to the obtained grid map corresponding to the reference vehicle, a position where the vehicle is located and a position where the reference vehicle is located, so as to determine a relative positional relationship between the vehicle and the reference vehicle.

S202, if the relative position relation accords with a preset condition, determining a first distance value according to the grid map; the first distance value is a length value of a largest grid on a side close to the vehicle in the grid map.

The preset condition may include that the reference vehicle will prevent the vehicle from being parked out of the vehicle, and in this embodiment, if it is determined that the relative positional relationship between the vehicle and the reference vehicle meets the preset condition according to the relative positional relationship between the vehicle and the reference vehicle, a length value of a maximum grid on a side close to the vehicle in the grid map may be determined according to the grid map, and the length value may be determined as the first distance value. Alternatively, the first distance value in this embodiment may be the maximum grid length value near the vehicle in the grid map corresponding to the reference vehicle on the left side of the vehicle, or may be the maximum grid length value near the vehicle in the grid map corresponding to the reference vehicle on the right side of the vehicle. It will be appreciated that the relative positional relationship between the vehicle and the reference vehicle will change during each control period as the vehicle is parked, and therefore the vehicle may update the determined first distance value in real time based on the relative positional relationship between the vehicle and the reference vehicle during each control period.

S203, determining a parking stop line of the vehicle according to the first distance value and the second distance value acquired in advance; the second distance value is the distance between the vehicle body close to the parking space side and the boundary line of the parking space after the vehicle is parked out.

The parking stop line of the vehicle is a horizontal line in the lane, that is to say, the parking stop line of the vehicle can be perpendicular to the longitudinal horizontal line of the parking space. As shown in fig. 5, the second distance value in this embodiment is the distance between the vehicle body on the side of the parking space and the boundary line of the parking space after the vehicle is parked out, and in general, the second distance value may be determined according to an empirical value, that is, the second distance value in this embodiment may be a predetermined fixed value. In this embodiment, the distance value between the center of the rear axle of the vehicle and the parking stop line of the vehicle when the vehicle is initially parked can be obtained through the first distance value and the second distance value, and then the position of the parking stop line of the vehicle is obtained through the distance value and the center position of the rear axle of the vehicle when the vehicle is initially parked.

S204, controlling the vehicle to be parked according to the parking stop line of the vehicle.

In this embodiment, the automatic vehicle parking system may control the vehicle parking by using the determined vehicle parking stop line, and when the vehicle is successfully parked, the vehicle parking stop line is not calculated continuously.

In addition, in this embodiment, it is noted that whether the vehicle is parked or not may be determined according to the distance between the center of the rear axle of the vehicle and the parking stop line of the vehicle and the value of the angle between the traveling direction of the vehicle and the parking stop line of the vehicle, for example, when the distance between the center of the rear axle of the vehicle and the parking stop line of the vehicle is smaller than 20cm and the value of the angle between the traveling direction of the vehicle and the parking stop line of the vehicle is smaller than 5 °, it may be determined that the vehicle is parked successfully.

In the vehicle parking control method, in the vehicle parking process, the relative position relationship between the vehicle and the reference vehicle can be determined according to the grid map corresponding to the reference vehicle in the preset range around the vehicle; when the relative position relation accords with the preset condition, the length value of the maximum grid close to the vehicle side in the grid map is determined to be a first distance value, a parking stop line is further determined according to the first distance value and a second distance between a vehicle body close to the parking space side and a parking space boundary line of the vehicle after the vehicle is parked, and the vehicle parking is controlled according to the parking stop line.

In the scenario of determining the parking stop line of the vehicle according to the first distance value and the second distance value acquired in advance, the parking stop line of the vehicle may be determined according to the first distance value, the second distance value, and the position of the center point of the rear axle of the vehicle when the vehicle is at the initial parking position. In one embodiment, as shown in fig. 6, S203 described above includes:

S301, determining the sum of the first distance value and the second distance value as a third distance value; the third distance value is the distance between the central line of the vehicle and the target origin after the vehicle is parked out; the target origin is the rear axle center point of the vehicle when the vehicle is in the initial parking position.

In this embodiment, the center point of the rear axle of the vehicle is determined as the target origin when the vehicle is at the initial parking position, and referring to fig. 5, the sum of the first distance value and the second distance value is a third distance value between the center line of the vehicle and the target origin after the vehicle is parked. In general, the distance between the vehicle body on the side close to the parking space and the boundary line of the parking space after the vehicle is parked out may be 0.8-1.2m, that is, the value range of the second distance value in this embodiment may be 0.8-1.2m.

S302, determining a parking stop line according to the position of the target origin and the third distance value.

In the parking situations of the vertical parking space and the inclined parking space, the parking stop line is parallel to the direction of the road where the vehicle is parked, and the third distance value is the distance between the target origin and the central line of the vehicle after the vehicle is parked. Optionally, in this embodiment, the position of the vehicle body near the parking space after the vehicle is parked out may be determined according to the position of the target origin and the third distance value, and then the parking stop line may be determined according to the position of the vehicle body near the parking space and the vehicle body width value of the vehicle. As shown in fig. 5, it can be understood that in this embodiment, the parking line may be determined according to the vehicle body position of the vehicle near the parking space side and half of the vehicle body width value of the vehicle, that is, the parking line may be determined by adding half of the vehicle body width value on the basis of the vehicle body position of the vehicle near the parking space side.

In this embodiment, the first distance value and the second distance value can be used to quickly determine the third distance value between the center point of the rear axle of the vehicle and the center line of the vehicle after the vehicle is parked in the initial parking position, so that the parking stop line can be determined through the target origin and the third distance value, and the whole process of determining the parking stop line of the vehicle is relatively simple, so that the efficiency of determining the parking stop line of the vehicle is improved.

In the above scenario in which the relative positional relationship between the vehicle and the reference vehicle is determined according to the grid map corresponding to the reference vehicle within the preset range around the vehicle in the vehicle parking process, the reference vehicle includes a first reference vehicle and a second reference vehicle, and in one embodiment, S201 includes: and determining the relative position relationship according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle.

In this embodiment, during the vehicle parking process, the reference vehicles in the preset range around the vehicle may have two sides, that is, in the case where there are two reference vehicles in the preset range around the vehicle, the relative positional relationship between the vehicle and the reference vehicle may be determined according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle, respectively. Alternatively, the relative positional relationship between the vehicle and the reference vehicle may be a mean value of the distance between the vehicle and the first reference vehicle and the distance between the vehicle and the second reference vehicle, or may be a maximum value of the angle value between the vehicle and the first reference vehicle and the angle value between the vehicle and the second reference vehicle.

In this embodiment, in the case where there are two reference vehicles when the vehicle is parked, since the reference vehicles on both the left and right sides of the vehicle are considered, the relative positional relationship between the vehicle and the reference vehicle can be accurately determined, and thus the parking stop line of the vehicle can be accurately determined.

In the above scenario of determining the relative position relationship according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle, the relative position relationship may be determined according to the curve corresponding to the vehicle body of the reference vehicle, which is determined on the vehicle side, according to the grid map, or may be determined according to the number of grid points in the grid map corresponding to the reference vehicle, and the following two determination methods will be described in detail respectively:

The method comprises the following steps: in one embodiment, as shown in fig. 7, the determining the relative positional relationship according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle includes:

S401, determining a first curve corresponding to a vehicle body of a first reference vehicle on a vehicle approaching side according to a grid map corresponding to the first reference vehicle, and determining a second curve corresponding to a vehicle body of a second reference vehicle on a vehicle approaching side according to a grid map corresponding to the second reference vehicle.

In this embodiment, if the distance between the center of the rear axle of the vehicle when the vehicle is at the current position and the center of the rear axle of the vehicle when the vehicle is at the initial position is greater than 3 meters, it may be determined that most of the vehicle body is not in the parking space, and it may be no longer possible to continuously determine the relative positional relationship between the vehicle and the reference vehicle; if the distance between the center of the rear axle of the vehicle at the current position and the center of the rear axle of the vehicle at the initial position is not more than 3 meters, the relative position relationship between the vehicle and the reference vehicle is continuously determined.

Specifically, as shown in fig. 8, in the present embodiment, rectangular frames may be respectively constructed in grid maps corresponding to reference vehicles within a preset range around the vehicle, the length of the rectangular frames being parallel to the vehicle body. Alternatively, in this embodiment, the length of the rectangular frame may be 4 meters, the width of the rectangular frame may be 0.5 meters, and the distance between the rectangular frame and the vehicle body may be 0.3 meters. According to the grid points effectively occupied in the rectangular frame, a first curve corresponding to the vehicle body of the first reference vehicle on the side close to the vehicle is fitted through a ransac algorithm, and a second curve corresponding to the vehicle body of the second reference vehicle on the side close to the vehicle is determined according to the grid map corresponding to the second reference vehicle. Alternatively, the first curve may be denoted as a ₁x+b₁y+c₁ =0 and the second curve may be denoted as a ₂x+b₂y+c₂ =0. The ransac algorithm is an algorithm for calculating mathematical model parameters of data according to a group of sample data sets containing abnormal data to obtain effective sample data.

S402, determining a first included angle value between the first reference vehicle and the vehicle according to the first curve.

In this embodiment, a first angle value between the first reference vehicle and the vehicle may be determined according to the first curve a ₁x+b₁y+c₁ =0 and the trigonometric function, for example, the first angle value between the first reference vehicle and the vehicle may be expressed as: Wherein thetal is a first angle value between the first reference vehicle and the vehicle.

S403, determining a second included angle value between the second reference vehicle and the vehicle according to the second curve.

In this embodiment, a second angle value between the second reference vehicle and the vehicle may be determined according to the second curve a ₂x+b₂y+c₂ =0 and the trigonometric function, for example, the second angle value between the second reference vehicle and the vehicle may be expressed as: Wherein thetal2 is a second angle value between the second reference vehicle and the vehicle.

S404, determining the relative position relationship according to the first included angle value and the second included angle value.

Alternatively, the relative positional relationship between the vehicle and the reference vehicle may be a mean of the first angle value and the second angle value, or the relative positional relationship between the vehicle and the reference vehicle may be a maximum value of the first angle value and the second angle value.

In this embodiment, the curves corresponding to the vehicle bodies of the reference vehicles on the vehicle side are determined according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle, so that errors caused by interference points in the grid map can be eliminated, and the accuracy of the first curve and the second curve is improved, so that the accuracy of the first included angle value and the second included angle value is improved, and the accuracy of determining the relative position relationship through the first included angle value and the second included angle value is further improved.

The second method is as follows: in one embodiment, as shown in fig. 9, determining the relative positional relationship according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle includes:

s501, if the number of grid points in the grid map corresponding to the first reference vehicle is smaller than a preset point value, determining that a first included angle value between the first reference vehicle and the vehicle is 0.

In this embodiment, if the number of grid points in the grid map corresponding to the first reference vehicle is smaller than the preset point value, it is indicated that the number of grid points in the grid map is too small, fitting is unreliable, and at this time, the first angle value between the first reference vehicle and the vehicle can be determined to be 0. Alternatively, the preset point value may be 10 or 20, which is not limited in this embodiment.

S502, if the number of grid points in the grid map corresponding to the second reference vehicle is smaller than the number of grid points, determining that a second included angle value between the second reference vehicle and the vehicle is 0.

In this embodiment, if the number of grid points in the grid map corresponding to the second reference vehicle is smaller than the preset point value, it is indicated that the number of grid points in the grid map is too small, fitting is unreliable, and at this time, the second angle value between the second reference vehicle and the vehicle can be determined to be 0. Alternatively, the preset point value may be 10 or 20, which is not limited in this embodiment.

S503, determining the relative position relation according to the first included angle value and the second included angle value.

In this embodiment, if the number of grid points in the grid map corresponding to any reference vehicle is smaller than the preset point value, the number of grid points is too small, fitting is unreliable, and by determining that the value of the included angle between the reference vehicle and the vehicle is 0, an inaccurate curve is avoided due to the too small number of grid points, so that the problem of inaccurate relative position relationship caused by inaccurate determined curve is avoided.

In the above scenario of determining the relative positional relationship according to the first angle value and the second angle value, in one embodiment, as shown in fig. 10, S504 or S603 includes:

S601, determining an initial included angle value according to the average value of the first included angle value and the second included angle value.

Specifically, the initial included angle value is determined as the average value of the first included angle value and the second included angle value, and illustratively, the initial included angle value may be expressed as: wherein theta_0 is the initial angle value.

S602, determining a third included angle value according to the initial included angle value and the included angle value adjusting coefficient.

Specifically, determining the third angle value as the product of the initial angle value and the angle value adjustment coefficient may be expressed as: theta3 = theta 0 x factor, wherein theta3 is the third angle value and factor is the angle value adjustment factor. Alternatively, in this embodiment, the adjustment coefficient of the angle value may be 0.7, or may be another value, which is not limited in this embodiment.

S603, determining a fourth included angle value according to the relative position relation between the included angle value adjusting coefficient and the previous control period.

First, it should be noted that, in the present embodiment, the relative positional relationships refer to relative angles between the vehicle and the reference vehicle. It may be appreciated that if the current control period is the first period, there is no relative positional relationship in the previous control period, and the determined third angle value may be determined as the relative positional relationship in the current period.

Illustratively, the formula may be: and determining a fourth included angle value between the vehicle and the reference vehicle by theta4 = theta_ lastcycle × (1-factor), wherein theta4 is the fourth included angle value, theta_ lastcycle is the included angle value between the vehicle and the reference vehicle in the previous control period, and factor is an included angle value adjusting coefficient.

S604, determining the relative position relationship according to the third included angle value and the fourth included angle value.

It can be understood that if the current control circumference is the first control period, the relative position relationship is the third angle value; if the current control environment is not the first control period, the relative position relationship is: theta=then3+then4, wherein theta is the relative positional relationship between the vehicle and the reference vehicle, that is, the relative positional relationship between the vehicle and the reference vehicle at this time may be determined by the formula theta=then0×factor+then_ lastcycle × (1-factor), wherein then0 is an initial angle value, factor is an angle value adjustment coefficient, and thena_ lastcycle is an angle value between the vehicle and the reference vehicle in the previous control period.

In this embodiment, the initial angle value can be determined according to the first angle value and the second angle value, so that the third angle value can be determined according to the initial angle value and the angle value adjustment coefficient, and the fourth angle value can be determined according to the relative position relation of the previous control period and the angle value adjustment coefficient; and the relative position relation between the vehicle and the reference vehicle can be determined according to the third included angle value and the fourth included angle value, and the relative position relation between the vehicle and the reference vehicle in the previous control period is combined in the process, so that the influence of errors on the grid map in the current control period on the determination of the relative position relation between the vehicle and the reference vehicle is avoided, and the accuracy of the relative position relation is further improved.

In the above scenario where the relative position relationship meets the preset condition and the first distance value is determined according to the grid map, in one embodiment, as shown in fig. 11, S202 includes:

s701, determining a first length value of a maximum grid close to one side of the vehicle in the grid map corresponding to the first reference vehicle according to the grid map corresponding to the first reference vehicle.

Specifically, in this embodiment, if the relative positional relationship between the vehicle and the reference vehicle meets the above-mentioned preset condition, the vehicle rear axle center may be taken as the origin O, the parking space direction may be taken as the X ' axis, the direction perpendicular to the parking space may be taken as the Y ' axis, the X ' OY ' coordinate system may be established, and a rectangular frame parallel to the X ' axis may be established in the grid map corresponding to the first reference vehicle. Alternatively, in this embodiment, the width of the rectangular frame may be 0.5 m, the length of the rectangular frame may be 5m, and the distance from the inner corner point of the rectangular frame to the X' axis may beThe distance from the inner corner of the rectangular frame to the Y' axis may be 1 meter. Further, in the present embodiment, the occupancy grids within the rectangular frame may be extracted one by one, and the maximum value in the X ' direction of the occupancy grid point X ' may be obtained as X ' max_l, that is, the outermost side of the first reference vehicle contour.

S702, determining a second length value of a maximum grid close to one side of the vehicle in the grid map corresponding to the second reference vehicle according to the grid map corresponding to the second reference vehicle.

Specifically, in this embodiment, if the relative positional relationship between the vehicle and the reference vehicle meets the above-mentioned preset condition, the vehicle rear axle center may be taken as the origin O, the parking space direction may be taken as the X ' axis, the direction perpendicular to the parking space may be taken as the Y ' axis, the X ' OY ' coordinate system may be established, and a rectangular frame parallel to the X ' axis may be established in the grid map corresponding to the second reference vehicle. Alternatively, in this embodiment, the width of the rectangular frame may be 0.5 m, the length of the rectangular frame may be 5m, and the distance from the inner corner point of the rectangular frame to the X' axis may beThe distance from the inner corner of the rectangular frame to the Y' axis may be 1 meter. Further, in the present embodiment, the occupancy grids within the rectangular frame may be extracted one by one, and the maximum value in the X ' direction of the occupancy grid point X ' may be obtained as X ' max_r, that is, the outermost side of the second reference vehicle profile.

S703, determining the maximum value of the first length value and the second length value as the first distance value.

In this embodiment, the maximum value of the first length value and the second length value may be determined as the first distance value, that is, the first distance value may be determined according to the formula d ₁ =max (X 'max_l, X' max_r), where d ₁ is the first distance value, X 'max_l is the first length value, and X' max_r is the second length value.

In this embodiment, the outermost side of the contour of the first reference vehicle can be determined to be the first length value according to the grid map corresponding to the first reference vehicle, and the outermost side of the contour of the second reference vehicle can be determined to be the second length value according to the grid map corresponding to the second reference vehicle, so that the maximum value of the first length value and the second length value can be selected as the first distance value, the position conditions of the reference vehicles on two sides are fully considered, the accuracy of determining the parking line is improved, and the success rate of parking vehicles is improved.

An embodiment of the present disclosure is described below in connection with a specific travel scenario, the method comprising the steps of:

S1, determining a first curve corresponding to a vehicle body of a first reference vehicle on a vehicle approaching side according to a grid map corresponding to the first reference vehicle, and determining a second curve corresponding to a vehicle body of a second reference vehicle on a vehicle approaching side according to a grid map corresponding to the second reference vehicle.

S2, determining a first included angle value between a first reference vehicle and the vehicle according to a first curve; and determining a second included angle value between the second reference vehicle and the vehicle according to the second curve.

S3, if the number of grid points in the grid map corresponding to the first reference vehicle is smaller than a preset point value, determining that a first included angle value between the first reference vehicle and the vehicle is 0; and if the number of the grid points in the grid map corresponding to the second reference vehicle is smaller than the number of the grid points, determining that a second included angle value between the second reference vehicle and the vehicle is 0.

S4, determining an initial included angle value according to the average value of the first included angle value and the second included angle value; determining a third included angle value according to the initial included angle value and the included angle value adjusting coefficient; determining a fourth included angle value according to the relative position relation between the included angle value adjusting coefficient and the previous control period; and determining the relative position relationship according to the third included angle value and the fourth included angle value.

S5, determining a first length value of a maximum grid close to one side of the vehicle in the grid map corresponding to the first reference vehicle according to the grid map corresponding to the first reference vehicle; determining a second length value of a maximum grid close to one side of the vehicle in the grid map corresponding to the second reference vehicle according to the grid map corresponding to the second reference vehicle; the maximum value of the first length value and the second length value is determined as a first distance value.

S6, determining the sum of the first distance value and the second distance value as a third distance value; the third distance value is the distance between the central line of the vehicle and the target origin after the vehicle is parked out; the target origin is the rear axle center point of the vehicle when the vehicle is in the initial parking position.

S7, determining the vehicle body position of the vehicle, which is close to the parking space side, after the vehicle is parked out according to the position of the target origin and the third distance value; and determining a parking stop line according to the vehicle body position of the vehicle close to the parking space side and the vehicle body width value of the vehicle.

S8, controlling the vehicle to be parked according to the parking stop line of the vehicle

It should be understood that, although the steps in the flowcharts of fig. 4 to 11 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps of fig. 4-11 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.

In one embodiment, as shown in fig. 12, there is provided a vehicle parking control apparatus including: a first determination module 10, a second determination module 11, a third determination module 12, and a control module 13, wherein:

The first determining module 10 is configured to determine, during a vehicle parking process, a relative positional relationship between the vehicle and a reference vehicle according to a grid map corresponding to the reference vehicle within a preset range around the vehicle.

A second determining module 11, configured to determine a first distance value according to the grid map if the relative position relationship meets a preset condition; the first distance value is a length value of a largest grid on a side close to the vehicle in the grid map.

A third determining module 12, configured to determine a parking stop line of the vehicle according to the first distance value and a second distance value acquired in advance; the second distance value is the distance between the vehicle body close to the parking space side and the boundary line of the parking space after the vehicle is parked out.

A control module 13 for controlling the vehicle to park according to the park stop line of the vehicle.

The vehicle parking control device provided in this embodiment may execute the above method embodiment, and its implementation principle and technical effects are similar, and will not be described herein.

In one embodiment, as shown in fig. 13, the third determining module 12 includes: a first determination unit 121 and a second determination unit 122, wherein:

a first determining unit 121 for determining a sum of the first distance value and the second distance value as a third distance value; the third distance value is the distance between the central line of the vehicle and the target origin after the vehicle is parked out; the target origin is the rear axle center point of the vehicle when the vehicle is in the initial parking position.

The second determining unit 122 is configured to determine a parking line according to the position of the target origin and the third distance value.

In one embodiment, the second determining unit 122 is specifically configured to determine, according to the position of the target origin and the third distance value, a vehicle body position of the vehicle near the parking space after the vehicle is parked; and determining a parking stop line according to the vehicle body position of the vehicle close to the parking space side and the vehicle body width value of the vehicle.

In one embodiment, as shown in fig. 14, the first determining module 10 includes: a third determination unit 101 in which:

the third determining unit 101 is configured to determine a relative positional relationship according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle.

In one embodiment, the third determining unit 101 is specifically configured to determine, according to a grid map corresponding to the first reference vehicle, a first curve corresponding to a vehicle body on a side of the first reference vehicle close to the vehicle, and determine, according to a grid map corresponding to the second reference vehicle, a second curve corresponding to a vehicle body on a side of the second reference vehicle close to the vehicle; determining a first included angle value between a first reference vehicle and a vehicle according to a first curve; determining a second included angle value between a second reference vehicle and the vehicle according to a second curve; and determining the relative position relationship according to the first included angle value and the second included angle value.

In one embodiment, the third determining unit 101 is specifically configured to determine that the first angle value between the first reference vehicle and the vehicle is 0 if the number of grid points in the grid map corresponding to the first reference vehicle is smaller than a preset point value; if the number of the grid points in the grid map corresponding to the second reference vehicle is smaller than the number of the grid points, determining that a second included angle value between the second reference vehicle and the vehicle is 0; and determining the relative position relationship according to the first included angle value and the second included angle value.

In one embodiment, the third determining unit 101 is specifically configured to determine an initial included angle value according to a mean value of the first included angle value and the second included angle value; determining a third included angle value according to the initial included angle value and the included angle value adjusting coefficient; determining a fourth included angle value according to the relative position relation between the included angle value adjusting coefficient and the previous control period; and determining the relative position relationship according to the third included angle value and the fourth included angle value.

In one embodiment, as shown in fig. 15, the second determining module 11 includes: a fourth determination unit 111, a fifth determination unit 112, and a sixth determination unit 113, wherein:

the fourth determining unit 111 is configured to determine, according to the grid map corresponding to the first reference vehicle, a first length value of a maximum grid on a side close to the vehicle in the grid map corresponding to the first reference vehicle.

And a fifth determining unit 112, configured to determine, according to the grid map corresponding to the second reference vehicle, a second length value of a maximum grid near the vehicle side in the grid map corresponding to the second reference vehicle.

A sixth determining unit 113 is configured to determine a maximum value of the first length value and the second length value as a first distance value.

The specific limitation regarding the vehicle parking control apparatus may be referred to the limitation regarding the vehicle parking control method hereinabove, and will not be described in detail herein. The respective modules in the vehicle parking control apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the electronic device, or may be stored in software in a memory in the electronic device, so that the processor may call and execute operations corresponding to the above modules.

Fig. 16 is a block diagram illustrating an electronic device 1300 according to an example embodiment. For example, the electronic device 1300 may be an in-vehicle terminal or the like.

Referring to fig. 16, an electronic device 1300 may include one or more of the following components: a processing component 1302, a memory 1304, a power component 1306, a multimedia component 1308, an audio component 1310, an input/output (I/O) interface 1312, a sensor component 1314, and a communication component 1316. Wherein the memory has stored thereon a computer program or instructions that run on the processor.

The processing component 1302 generally controls overall operation of the electronic device 1300, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1302 may include one or more processors 1320 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 1302 can include one or more modules that facilitate interactions between the processing component 1302 and other components. For example, the processing component 1302 may include a multimedia module to facilitate interaction between the multimedia component 1308 and the processing component 1302.

The memory 1304 is configured to store various types of data to support operations at the electronic device 1300. Examples of such data include instructions for any application or method operating on the electronic device 1300, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1304 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply assembly 1306 provides power to the various components of the electronic device 1300. The power components 1306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 1300.

The multimedia component 1308 includes a touch-sensitive display screen that provides an output interface between the electronic device 1300 and a user. In some embodiments, the touch display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1308 includes a front-facing camera and/or a rear-facing camera. When the electronic device 1300 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 1310 is configured to output and/or input audio signals. For example, the audio component 1310 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 1300 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 1304 or transmitted via the communication component 1316. In some embodiments, the audio component 1310 also includes a speaker for outputting audio signals.

The I/O interface 1312 provides an interface between the processing component 1302 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 1314 includes one or more sensors for providing status assessment of various aspects of the electronic device 1300. For example, the sensor assembly 1314 may detect an on/off state of the electronic device 1300, a relative positioning of the components, such as a display and keypad of the electronic device 1300, the sensor assembly 1314 may also detect a change in position of the electronic device 1300 or a component of the electronic device 1300, the presence or absence of a user's contact with the electronic device 1300, an orientation or acceleration/deceleration of the electronic device 1300, and a change in temperature of the electronic device 1300. The sensor assembly 1314 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 1314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1314 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 1316 is configured to facilitate communication between the electronic device 1300 and other devices, either wired or wireless. The electronic device 1300 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 1316 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1316 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 1300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the vehicle parking control methods described above.

In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as memory 1304, including instructions executable by processor 1320 of electronic device 1300 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

In an exemplary embodiment, a computer program product is also provided, which, when being executed by a processor, may implement the above-mentioned method. The computer program product includes one or more computer instructions. When loaded and executed on a computer, these computer instructions may implement some or all of the methods described above, in whole or in part, in accordance with the processes or functions described in embodiments of the present disclosure.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided by the present disclosure may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few implementations of the disclosed examples, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made to the disclosed embodiments without departing from the spirit of the disclosed embodiments. Accordingly, the protection scope of the disclosed embodiment patent should be subject to the appended claims.

Claims

1. A vehicle parking control method, characterized in that the method comprises:

in the vehicle parking process, determining the relative position relationship between the vehicle and a reference vehicle according to a grid map corresponding to the reference vehicle in a preset range around the vehicle;

If the relative position relation accords with a preset condition, determining a first distance value according to the grid map; the first distance value is the length value of the largest grid close to one side of the vehicle in the grid map;

Determining a parking stop line of the vehicle according to the first distance value and a second distance value acquired in advance; the second distance value is the distance between the vehicle body, which is close to the parking space side, of the vehicle and the boundary line of the parking space after the vehicle is parked out;

and controlling the vehicle to be parked according to the parking stop line of the vehicle.

2. The method of claim 1, wherein the determining the vehicle out of park stop line based on the first distance value and a pre-acquired second distance value comprises:

determining a sum of the first distance value and the second distance value as a third distance value; the third distance value is the distance between the central line of the vehicle and the target origin after the vehicle is parked out; the target origin is the center point of a rear axle of the vehicle when the vehicle is at an initial parking position;

And determining the parking stop line according to the position of the target origin and the third distance value.

3. The method of claim 2, wherein the determining the parking stop line based on the location of the target origin and the third distance value comprises:

determining the vehicle body position of the vehicle, which is close to the parking space side, after the vehicle is parked out according to the position of the target origin and the third distance value;

and determining the parking stop line according to the vehicle body position of the vehicle close to the parking space side and the vehicle body width value of the vehicle.

4. The method of claim 1, wherein the reference vehicle comprises a first reference vehicle and a second reference vehicle; the determining the relative position relationship between the vehicle and the reference vehicle according to the grid map corresponding to the reference vehicle in the preset range around the vehicle comprises the following steps:

and determining the relative position relationship according to the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle.

5. The method of claim 4, wherein the determining the relative positional relationship from the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle comprises:

Determining a first curve corresponding to a vehicle body of the first reference vehicle, which is close to the vehicle side, according to a grid map corresponding to the first reference vehicle, and determining a second curve corresponding to a vehicle body of the second reference vehicle, which is close to the vehicle side, according to a grid map corresponding to the second reference vehicle;

Determining a first included angle value between the first reference vehicle and the vehicle according to the first curve;

Determining a second included angle value between the second reference vehicle and the vehicle according to the second curve;

and determining the relative position relation according to the first included angle value and the second included angle value.

6. The method of claim 4, wherein the determining the relative positional relationship from the grid map corresponding to the first reference vehicle and the grid map corresponding to the second reference vehicle comprises:

If the number of the grid points in the grid map corresponding to the first reference vehicle is smaller than a preset point value, determining that a first included angle value between the first reference vehicle and the vehicle is 0;

If the number of grid points in the grid map corresponding to the second reference vehicle is smaller than the number of grid points, determining that a second included angle value between the second reference vehicle and the vehicle is 0;

7. The method according to claim 5 or 6, wherein determining the relative positional relationship from the first angle value and the second angle value comprises:

determining an initial included angle value according to the average value of the first included angle value and the second included angle value;

determining a third included angle value according to the initial included angle value and the included angle value adjusting coefficient;

Determining a fourth included angle value according to the relative position relation between the included angle value adjusting coefficient and the previous control period;

and determining the relative position relation according to the third included angle value and the fourth included angle value.

8. The method of claim 1, wherein the determining a first distance value from the grid map comprises:

determining a first length value of a maximum grid close to one side of the vehicle in a grid map corresponding to the first reference vehicle according to the grid map corresponding to the first reference vehicle;

Determining a second length value of a maximum grid close to one side of the vehicle in the grid map corresponding to the second reference vehicle according to the grid map corresponding to the second reference vehicle;

and determining the maximum value of the first length value and the second length value as the first distance value.

9. A vehicle parking control apparatus, characterized by comprising:

The second determining module is used for determining a first distance value according to the grid map if the relative position relation accords with a preset condition; the first distance value is the length value of the largest grid close to one side of the vehicle in the grid map;

The third determining module is used for determining a parking stop line of the vehicle according to the first distance value and a second distance value which is acquired in advance; the second distance value is the distance between the vehicle body, which is close to the parking space side, of the vehicle and the boundary line of the parking space after the vehicle is parked out;

10. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.

11. A storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method of any of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1-8.