WO2020133988A1

WO2020133988A1 - Method and device for determining parking position

Info

Publication number: WO2020133988A1
Application number: PCT/CN2019/093446
Authority: WO
Inventors: 张雪飞; 肖志光; 潘力澜
Original assignee: 广州小鹏汽车科技有限公司
Priority date: 2018-12-28
Filing date: 2019-06-28
Publication date: 2020-07-02
Also published as: CN109581391A

Abstract

A method and device for determining a parking position. The method comprises: in the process of controlling a vehicle to park in a parking space, obtaining distance information between an ultrasonic detection device and an obstacle by means of the ultrasonic detection device (101); then obtaining position information of the ultrasonic detection device (102); calculating the position of the obstacle on the basis of the position information of the ultrasonic detection device, the distance information between the ultrasonic detection device and the obstacle, and a preset correction angle (103), wherein the preset correction angle is an included angle between the actual direction of the obstacle and the direction of the central axis of the ultrasonic sensor; and determining a parking position according to the positions of multiple obstacles (104). The method for determining a parking position can improve the accuracy of a vehicle to determine positions of obstacles.

Description

Method for determining parking position and device for determining parking position

Technical field

The invention relates to the technical field of parking, in particular to a method for determining a parking position and a device for determining a parking position.

Background technique

At present, some vehicles will be equipped with ultrasonic sensors, which are used to detect obstacles around the vehicle and feedback the position information of the obstacles, which can be used to assist the user to park the vehicle in the parking space.

In practice, it is found that when a vehicle is parked in a parking space, it does not always move perpendicular to the parking space, and sometimes the vehicle moves at an angle to the parking space. As shown in Figure 6, when the vehicle is inclined to the parking space, when the ultrasonic sensor detects an obstacle, the direction of the central axis of the ultrasonic sensor is taken as the direction of the obstacle, and the position of the obstacle is determined according to the direction . However, due to the influence of the ultrasonic beam angle, the obstacle position determined by the ultrasonic sensor according to the above method often deviates from the actual position of the obstacle, which in turn leads to the determined parking space line may also be different from the actual parking space line For the deviation, the determined parking space line at this time is the erroneously detected parking space line shown in FIG. 6, which is not conducive to improving the success rate of parking the vehicle in the parking space.

Summary of the invention

The embodiment of the invention discloses a method for determining a parking position and a device for determining a parking position, which can improve the accuracy of the vehicle in determining the position of an obstacle.

A first aspect of an embodiment of the present invention discloses a method for determining a parking position, including:

In the process of controlling the parking of the vehicle in the parking space, the distance information between the ultrasonic detection device and the obstacle is acquired through the ultrasonic detection device;

Acquiring position information of the ultrasonic detection device;

Calculate the position of the obstacle according to the position information of the ultrasonic detection device, the distance information, and a preset correction angle; wherein, the preset correction angle is the direction in which the obstacle is actually located and the The angle between the central axis of the ultrasonic sensor;

The parking position is determined according to the positions of the plurality of obstacles.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, during the process of controlling the vehicle to park in the parking space, the distance information between the ultrasonic detection device and the obstacle is acquired by the ultrasonic detection device ,include:

In the process of controlling the vehicle to park in the parking space, the first ultrasonic detection module in the ultrasonic detection device sends ultrasonic waves;

Controlling the first ultrasonic detection module to receive the reflected wave reflected by the ultrasonic wave to calculate the first distance information of the first ultrasonic detection module and the obstacle according to the reflected wave;

Controlling the second ultrasonic detection module in the ultrasonic detection device to receive the reflected wave reflected by the ultrasonic wave to calculate the second distance information of the second ultrasonic detection module and the obstacle according to the reflected wave;

Acquiring the target distance between the first detection module and the second detection module;

Calculating the target angle between the reflected wave and the plane where the first detection module is located according to the target distance, the first distance information, and the second distance information;

The distance information between the ultrasonic detection device and the obstacle is calculated according to the included angle between the first distance information and the target.

As an optional implementation manner, in the first aspect of the embodiments of the present invention, before acquiring the position information of the ultrasonic detection device, the method further includes:

Obtain the location distribution information of the obstacle; the location distribution information of the obstacle is generated according to the obstacle information collected by the ultrasonic detection device of the vehicle during the driving process of the vehicle keeping parallel with the parking space;

Determine the actual direction of the obstacle according to the location distribution information of the obstacle;

The angle between the central axis of the ultrasonic sensor and the direction in which the obstacle is actually located is used as the preset correction angle.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after acquiring the position information of the ultrasonic detection device, and according to the position information of the ultrasonic detection device, the distance information, and the preset Before the correction angle calculates the position of the obstacle, the method further includes:

Calculating the first position information of the obstacle according to the distance information of the ultrasonic detection device and the obstacle and the position information of the ultrasonic detection device;

Judging whether the first position information matches the obstacle position information in the obstacle position distribution information;

If yes, use the position corresponding to the first position information as the position of the obstacle, and perform the step of determining the parking position based on the positions of the plurality of obstacles;

If not, the step of calculating the position of the obstacle based on the position information of the ultrasonic detection device, the distance information, and a preset correction angle is performed.

As an optional implementation manner, in the first aspect of the embodiments of the present invention, the method further includes:

In the process of controlling the vehicle to park in the parking space, obtain real-time location information of the vehicle;

Determine whether the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold;

If the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold, the vehicle is suspended and controlled to park in the parking space.

A second aspect of an embodiment of the present invention discloses a parking space position determination device, including:

A first acquiring unit, configured to acquire the distance information between the ultrasonic detecting device and the obstacle through the ultrasonic detecting device during the process of controlling the parking of the vehicle in the parking space;

A second acquiring unit, configured to acquire position information of the ultrasonic detection device;

A first calculation unit, configured to calculate the position of the obstacle based on the position information of the ultrasonic detection device, the distance information, and a preset correction angle; wherein, the preset correction angle is the obstacle The angle between the actual direction and the central axis of the ultrasonic sensor;

The first determining unit is configured to determine the parking position according to the positions of the plurality of obstacles.

As an optional implementation manner, in the second aspect of the embodiments of the present invention, the first acquiring unit includes:

The sending subunit is used to send ultrasonic waves through the first ultrasonic detection module in the ultrasonic detection device during the process of controlling the vehicle to park in the parking space;

A first receiving subunit, configured to control the first ultrasonic detection module to receive the reflected wave reflected by the ultrasonic wave, so as to calculate the first distance information of the first ultrasonic detection module and the obstacle according to the reflected wave;

A second receiving subunit for controlling the second ultrasonic detection module in the ultrasonic detection device to receive the reflected wave reflected by the ultrasonic wave to calculate the second ultrasonic detection module and the obstacle according to the reflected wave Second distance information of objects;

An acquisition subunit, configured to acquire a target distance between the first detection module and the second detection module;

A first calculation subunit, configured to calculate the target angle between the reflected wave and the plane where the first detection module is located based on the target distance, the first distance information, and the second distance information;

The second calculation subunit is configured to calculate distance information between the ultrasonic detection device and the obstacle according to the included angle between the first distance information and the target.

As an optional implementation manner, in the second aspect of the embodiments of the present invention, the apparatus further includes:

A third obtaining unit, configured to obtain the position distribution information of the obstacle before the second obtaining unit obtains the position information of the ultrasonic detection device; the position distribution information of the obstacle is that the vehicle is parking with the vehicle It is generated according to the obstacle information collected by the ultrasonic detection device of the vehicle during the driving process with the position kept parallel;

A second determining unit, configured to determine the actual direction of the obstacle according to the position distribution information of the obstacle;

The third determining unit is configured to use an angle between the central axis direction of the ultrasonic sensor and the direction in which the obstacle is actually located as a preset correction angle.

A second calculation unit, which is used for acquiring the position information of the ultrasonic detection device by the second acquisition unit, and the first calculation unit according to the position information of the ultrasonic detection device, the distance information and the preset Before calculating the position of the obstacle by the correction angle, calculating the first position information of the obstacle based on the distance information of the ultrasonic detection device and the obstacle and the position information of the ultrasonic detection device;

A first determining unit, configured to determine whether the first position information matches the obstacle position information in the position distribution information of the obstacle;

And, the first determining unit is specifically configured to, when the first determining unit determines that the first position information matches the obstacle position information in the position distribution information of the obstacle, the first determining unit The position corresponding to the position information is used as the position of the obstacle, and the parking position is determined according to the positions of the plurality of obstacles;

The first calculation unit is specifically configured to, according to the ultrasonic detection device, when the first determination unit determines that the first position information does not match the obstacle position information in the position distribution information of the obstacle Position information of the obstacle, the distance information, and the preset correction angle.

The fourth obtaining unit is used to obtain real-time position information of the vehicle during the process of controlling the vehicle to park in the parking space;

A second judgment unit, configured to judge whether the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold;

A pause unit, configured to pause and control the vehicle to park in the parking space when the second judgment unit judges that the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold .

A third aspect of an embodiment of the present invention discloses a parking space position determination device, including:

Memory storing executable program code;

A processor coupled to the memory;

The processor calls the executable program code stored in the memory to execute a method for determining a parking position disclosed in the first aspect of the embodiments of the present invention.

A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes the computer to execute a parking position determination method disclosed in the first aspect of the embodiments of the present invention.

A fifth aspect of an embodiment of the present invention discloses a computer program product. When the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any method in the first aspect of the embodiment of the present invention.

A sixth aspect of an embodiment of the present invention discloses an application publishing platform for publishing a computer program product, wherein, when the computer program product runs on a computer, the computer is caused to execute the first Part or all of the steps of any method in one aspect.

Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

In the embodiment of the present invention, the position determination device may acquire the distance information between the ultrasonic detection device and the obstacle through the ultrasonic detection device during the process of controlling the vehicle to park in the parking space; then acquire the position information of the ultrasonic detection device, and according to the ultrasonic detection device The position information of the ultrasonic detection device and the distance between the ultrasonic detection device and the preset correction angle to calculate the position of the obstacle; where the preset correction angle is between the actual direction of the obstacle and the central axis of the ultrasonic sensor The angle of the; and then can determine the parking position according to the position of multiple obstacles. In the implementation of the embodiments of the present invention, the position determination device may calculate the position of the obstacle based on the distance information between the ultrasonic detection device and the obstacle determined by the ultrasonic detection device, combined with the position information of the ultrasonic detection device itself and a preset correction angle, and Improve the accuracy of vehicles to determine the location of obstacles.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

1 is a schematic flowchart of a method for determining a parking position disclosed in an embodiment of the present invention;

2 is a schematic flowchart of another method for determining a parking position disclosed in an embodiment of the present invention;

3 is a schematic structural diagram of a parking space position determination device disclosed in an embodiment of the present invention;

4 is a schematic structural diagram of another parking space position determination device disclosed in an embodiment of the present invention;

5 is a schematic structural diagram of yet another parking space position determination device disclosed in an embodiment of the present invention;

6 is an example diagram for assisting in explaining the cause of the position deviation of an obstacle disclosed in an embodiment of the present invention;

7 is an example of an example of how to use a triangulation method to measure the distance information between an ultrasonic detection device and an obstacle disclosed in an embodiment of the present invention;

FIG. 8 is an exemplary diagram for explaining how to determine the position of an obstacle disclosed in an embodiment of the present invention;

FIG. 9 is an exemplary diagram illustrating how to determine the direction in which the obstacle is actually located, disclosed in an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that the terms “first”, “second”, “third”, and “fourth” in the description and claims of the present invention are used to distinguish different objects, not to describe specific order. The terms "including" and "having" and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions, for example, processes, methods, systems, products, or devices that include a series of steps or units are not necessarily limited to clearly Those steps or units are listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or equipment.

The technical solution of the present invention will be described in detail below in conjunction with specific embodiments.

Example one

Please refer to FIG. 1, which is a schematic flowchart of a method for determining a parking position disclosed in an embodiment of the present invention. As shown in FIG. 1, the method for determining the parking position may include the following steps:

101. During the process of controlling the vehicle parking in the parking space, the position determining device acquires the distance information between the ultrasonic detecting device and the obstacle through the ultrasonic detecting device.

In the embodiment of the present invention, the ultrasonic detection device may be an ultrasonic sensor, an ultrasonic rangefinder, etc. The embodiment of the present invention is not limited; the embodiment of the present invention uses an ultrasonic sensor as an example for description. The ultrasonic sensor may be composed of a piezoelectric wafer, which may It is used to transmit ultrasonic waves and can also be used to receive ultrasonic waves; furthermore, the ultrasonic sensor can calculate the time difference t between the transmitted and received ultrasonic waves, and then the distance L between the ultrasonic detection device and the obstacle can be obtained according to the formula L=t*v/2; Among them, v is the propagation speed of ultrasonic waves in the air: 340m/s.

As an optional embodiment, during the process of controlling the vehicle parking in the parking space, the method for acquiring the distance information between the ultrasonic detection device and the obstacle through the ultrasonic detection device may be: During the process, the position determining device may send ultrasonic waves through the first ultrasonic detection module in the ultrasonic detection device; control the first ultrasonic detection module to receive the reflected waves reflected by the ultrasonic waves to calculate the first ultrasonic detection module and the obstacle according to the reflected waves The first distance information; control the second ultrasonic detection module in the ultrasonic detection device to receive the reflected wave reflected by the above ultrasonic wave to calculate the second distance information between the second ultrasonic detection module and the obstacle according to the reflected wave; obtain the first detection The target distance between the module and the second detection module; according to the target distance, the first distance information and the second distance information, the target angle between the reflected wave and the plane where the first detection module is located is calculated; based on the first distance information and the target angle Calculate the distance information between the ultrasonic detection device and the obstacle.

For example, referring to FIG. 7, A is a first ultrasonic detection module, B is a second ultrasonic detection module, and C is an obstacle; then the first ultrasonic detection module can calculate the first according to the time difference t1 between the transmission and reception of ultrasonic waves The first distance c=(t1*v)/2 between the ultrasonic detection module and the obstacle; the second ultrasonic detection module can be calculated according to the time difference t2 between the ultrasonic wave transmitted by the first ultrasonic detection module and the reflected wave received by the second ultrasonic detection module The second distance b=t2*vc from the obstacle; and the target distance a between the first detection module and the second detection module is determined when the first detection module and the second detection module are installed, the specific value can be developed by Obtained by personnel input; and then the target angle ∠θ between the reflected wave and the plane where the first detection module is located can be obtained by the formula cosθ=(a*a+c*cb*b)/2ac; use it according to the first distance information and the target angle The formula L=sinθ*c can calculate the distance L between the ultrasonic detection device and the obstacle.

Among them, v is the propagation speed of ultrasonic waves in the air: 340m/s; the time difference t1, t2 can be obtained by the timing module inside the ultrasonic sensor; and L is perpendicular to the line of AB.

Implementing the above method and measuring the distance information between the ultrasonic detection device and the obstacle by triangulation can make the measured distance information between the ultrasonic detection device and the obstacle more accurate, which is beneficial to determine more accurate parking position information .

102. The position determination device acquires position information of the ultrasonic detection device.

In the embodiment of the present invention, the ultrasonic detection device may have a built-in positioning module, for example: a global positioning system (Global Positioning System, GPS) module, and a GLONASS navigation system (GLOBAL Navigation Satellite System, GNSS) module;

Take the GPS positioning module as an example. The GPS module has high integration sensitivity and low power consumption. It can track up to 20 satellites at the same time and quickly locate it to achieve 1Hz navigation updates. It is widely used in handheld computers, personal digital assistants, navigators, In mobile phones, computers or other battery-operated navigation systems; the position determination device can obtain the position information of the ultrasonic detection device through the GPS positioning module, and the position information can be a coordinate, such as (x, y).

103. The position determination device calculates the position of the obstacle based on the position information of the ultrasonic detection device, the distance information of the ultrasonic detection device and the obstacle, and a preset correction angle.

In the embodiment of the present invention, the preset correction angle is the angle between the actual direction of the obstacle and the direction of the central axis of the ultrasonic sensor, as shown in FIG. 8 ∠β; it may be a lot of experiments by developers The result is set.

For example, referring to FIG. 8, assuming that the position of the ultrasonic detection device is (x, y), the distance information between the ultrasonic detection device and the obstacle is L, and the preset correction angle is ∠β; then the position of the obstacle can be calculated as (x+L*cosβ, yL*sinβ).

As an optional embodiment, during the process of controlling the vehicle to park in the parking space, the position determining device may acquire the real-time position information of the vehicle; then determine whether the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to the preset Threshold of the distance; if the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to the preset distance threshold, the vehicle will be temporarily stopped and parked in the parking space. Among them, the preset distance threshold can be determined by the developer through multiple experimental results.

By implementing the above method, the position determination device can determine more accurate obstacle position information through the disclosed parking position determination method, and thus can more accurately determine whether the distance between the vehicle's real-time position and the obstacle position is less than or It is equal to the preset distance threshold to avoid the vehicle hitting obstacles and damaging the vehicle.

104. The position determining device determines the parking position according to the positions of multiple obstacles.

In the embodiment of the present invention, the ultrasonic detection device can always obtain the position of obstacles around the vehicle while the vehicle is parked in the parking space, and then can connect the positions of multiple obstacles to obtain the edge information of the parking space to The edge information of the parking space determines the parking location.

It can be seen that by implementing the method described in FIG. 1, the position determination device can acquire the distance information between the ultrasonic detection device and the obstacle through the ultrasonic detection device during the process of controlling the vehicle to park in the parking space; and then obtain the position information of the ultrasonic detection device, and Calculate the position of the obstacle based on the position information of the ultrasonic detection device, the distance information of the ultrasonic detection device and the obstacle, and the preset correction angle; where the preset correction angle is the direction in which the obstacle is actually located and the middle of the ultrasonic sensor The angle between the axis directions; furthermore, the parking position can be determined according to the positions of multiple obstacles. In the implementation of the embodiments of the present invention, the position determination device may calculate the position of the obstacle based on the distance information between the ultrasonic detection device and the obstacle determined by the ultrasonic detection device, combined with the position information of the ultrasonic detection device itself and a preset correction angle. Improve the accuracy of vehicles to determine the location of obstacles.

Example 2

Please refer to FIG. 2, which is a schematic flowchart of another method for determining a parking position disclosed in an embodiment of the present invention. As shown in FIG. 2, the method for determining the parking position may include the following steps:

201; wherein, step 201 is the same as step 101 in the first embodiment, and will not be repeated here.

202. The position determining device obtains position distribution information of the obstacle.

In the embodiment of the present invention, the position distribution information of the obstacle is generated based on the obstacle information collected by the ultrasonic detection device of the vehicle while the vehicle is running parallel to the parking space; What is: When the vehicle is looking for a parking space (that is, when the vehicle is not parked in the parking space) and the parking space keep parallel; and the parking space includes a horizontally oriented parking space, a vertically oriented parking space, and an obliquely oriented parking space, It does not mean that the parking space is only parallel to the horizontally oriented parking space.

As an optional embodiment, the position determining device calculates the obstacle after acquiring the position information of the ultrasound detecting device, and according to the position information of the ultrasound detecting device, the distance information of the ultrasound detecting device and the obstacle, and a preset correction angle Before the position of the position, the position determining device may calculate the first position information of the obstacle based on the distance information of the ultrasonic detection device and the obstacle and the position information of the ultrasonic detection device; determine whether the first position information is in the position distribution information of the obstacle The obstacle position information matches; if it matches, the position corresponding to the first position information is used as the position of the obstacle, and the step of determining the parking position according to the positions of the plurality of obstacles is performed. If there is no match, the step of calculating the position of the obstacle based on the position information of the ultrasonic detection device, the distance information of the ultrasonic detection device and the obstacle and the preset correction angle is performed.

Implementing the above method, the position determining device may first determine whether the first position information (ie, the position of the obstacle before the correction) matches the obstacle position information in the position distribution information of the obstacle according to the position distribution information of the obstacle, and if it matches, It means that the position corresponding to the first position information is the actual position of the obstacle, and no correction is needed; furthermore, the calculation amount of the obstacle position correction can be reduced, and the efficiency of obstacle position detection is improved.

203. The position determination device determines the actual direction of the obstacle according to the position distribution information of the obstacle.

For example, referring to FIG. 9, when an obstacle is detected, the position determining device acquires the distance L between the ultrasonic detection device and the obstacle fed back by the ultrasonic detection device, and then the sector of the ultrasonic detection device can be used as the center, and L is the radius to determine a sector Search range, and then determine the actual direction of the obstacle in the position distribution information of the obstacle according to the fan-shaped search range.

204. The position determination device uses the angle between the central axis of the ultrasonic sensor and the direction in which the obstacle is actually located as the preset correction angle.

In the embodiment of the present invention, the preset correction angle determined by the position determination device by the angle between the central axis direction of the ultrasonic sensor and the direction in which the obstacle is actually located may be ∠β shown in FIG. 8.

205-207; wherein, steps 205-step 207 are the same as steps 102-step 104 in the first embodiment, which will not be repeated here.

It can be seen that, compared with the method for determining the parking position described in FIG. 1, implementing the method for determining the parking position described in FIG. 2 can also determine the actual direction of the obstacle in combination with the position distribution information of the obstacle, and thus can determine a more Correct the angle accurately to determine the actual location of the obstacle.

Example Three

Please refer to FIG. 3, which is a schematic structural diagram of a parking space position determining device disclosed in an embodiment of the present invention. As shown in FIG. 3, the parking space position determining device may include:

The first acquiring unit 301 is configured to acquire the distance information between the ultrasonic detection device and the obstacle through the ultrasonic detection device during the process of controlling the parking of the vehicle in the parking space;

The second obtaining unit 302 is configured to obtain position information of the ultrasonic detection device;

The first calculation unit 303 is configured to calculate the position of the obstacle based on the position information of the ultrasonic detection device, the distance information between the ultrasonic detection device and the obstacle, and a preset correction angle; where the preset correction angle is where the obstacle is actually located The angle between the direction of and the central axis of the ultrasonic sensor;

The first determining unit 304 is configured to determine the parking position according to the positions of a plurality of obstacles.

As an optional implementation manner, the first acquiring unit 301 may include the following subunits (not shown):

The first receiving subunit is used to control the first ultrasonic detection module to receive the reflected wave reflected by the ultrasonic wave, so as to calculate the first distance information of the first ultrasonic detection module and the obstacle according to the reflected wave;

The second receiving subunit is used to control the second ultrasonic detection module in the ultrasonic detection device to receive the reflected wave reflected by the ultrasonic wave to calculate the second distance information of the second ultrasonic detection module and the obstacle according to the reflected wave;

An acquisition subunit, used to acquire the target distance between the first detection module and the second detection module;

The first calculation subunit is used to calculate the target angle between the reflected wave and the plane where the first detection module is located based on the target distance, the first distance information, and the second distance information;

The second calculation subunit is configured to calculate distance information between the ultrasonic detection device and the obstacle based on the angle between the first distance information and the target.

As an optional implementation manner, the parking space position determining device may further include the following units (not shown):

The second judgment unit is used to judge whether the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold;

The pause unit is configured to pause and control the vehicle to park in the parking space when the second judgment unit judges that the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold.

By implementing the above method, more accurate obstacle position information can be determined by the disclosed parking position determination method implemented in the present invention, and then it can be more accurately determined whether the distance between the vehicle's real-time position and the obstacle position is less than or equal to the preset Threshold of the distance to avoid damage to the vehicle by hitting obstacles.

It can be seen that the parking space position determination device described in FIG. 3 can acquire the distance information of the ultrasonic detection device and the obstacle through the ultrasonic detection device during the process of controlling the vehicle to park in the parking space; and then obtain the position information of the ultrasonic detection device, and Calculate the position of the obstacle based on the position information of the ultrasonic detection device, the distance information of the ultrasonic detection device and the obstacle, and the preset correction angle; where the preset correction angle is the direction in which the obstacle is actually located and the middle of the ultrasonic sensor The angle between the axis directions; furthermore, the parking position can be determined according to the positions of multiple obstacles. In the implementation of the embodiments of the present invention, the position determination device may calculate the position of the obstacle based on the distance information between the ultrasonic detection device and the obstacle determined by the ultrasonic detection device, combined with the position information of the ultrasonic detection device itself and a preset correction angle. Improve the accuracy of vehicles to determine the location of obstacles.

Example 4

Please refer to FIG. 4, which is a schematic structural diagram of another parking space position determining device disclosed in an embodiment of the present invention. Among them, the parking space position determination device shown in FIG. 4 is obtained by optimizing the parking space position determination device shown in FIG. 3. Compared with the parking space position determining device shown in FIG. 3, the parking space position determining device shown in FIG. 4 may further include:

The third obtaining unit 305 is used to obtain the position distribution information of the obstacle before the second obtaining unit 302 obtains the position information of the ultrasonic detection device; the position distribution information of the obstacle is in the process of the vehicle keeping parallel with the parking space , Generated based on obstacle information collected by the vehicle’s ultrasonic testing device;

The second determining unit 306 is configured to determine the actual direction of the obstacle according to the position distribution information of the obstacle;

The third determining unit 307 is configured to use the angle between the central axis direction of the ultrasonic sensor and the direction in which the obstacle is actually located as a preset correction angle.

The second calculation unit is used for calculating the position information of the ultrasonic detection device after the second acquisition unit acquires the position information of the ultrasonic detection device, the distance information of the ultrasonic detection device and the obstacle and the preset correction angle Before the position of the obstacle is found, calculate the first position information of the obstacle based on the distance information of the ultrasonic detection device and the obstacle and the position information of the ultrasonic detection device

And, the first determining unit 304 is specifically configured to use the position corresponding to the first position information as the obstacle when the first determining unit determines that the first position information matches the obstacle position information in the position distribution information of the obstacle Position, and determine the parking position according to the position of multiple obstacles;

The first calculating unit 303 is specifically configured to determine the position information of the ultrasonic detection device, the ultrasonic detection device and the obstacle according to the position information of the ultrasonic detection device when the first determination unit determines that the first position information does not match the obstacle position information in the position distribution information of the obstacle The distance information of the object and the preset correction angle calculate the position of the obstacle.

Implementing the above method, you can first determine whether the first position information (that is, the position of the obstacle before correction) matches the obstacle position information in the position distribution information of the obstacle according to the position distribution information of the obstacle. The position corresponding to the position information is the actual position of the obstacle, and no correction is needed; furthermore, the calculation amount of the obstacle position correction can be reduced, and the efficiency of obstacle position detection is improved.

It can be seen that, compared with the parking space position determining device shown in FIG. 3, the parking space position determining device shown in FIG. 4 can also determine the accurate direction of the actual obstacle in combination with the location distribution information of the obstacle, and thus can determine Correct the angle more accurately to determine the actual location of the obstacle.

Example 5

Please refer to FIG. 5, which is a schematic structural diagram of yet another parking space position determining device disclosed in an embodiment of the present invention. As shown in FIG. 5, the parking space position determining device may include:

A memory 501 storing executable program code;

A processor 502 coupled with the memory 501;

Wherein, the processor 502 calls the executable program code stored in the memory 501 to execute any method for determining the parking position in FIG. 1 to FIG. 2.

An embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, where the computer program causes the computer to execute any method for determining a parking position in FIG. 1 to FIG. 2.

An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein, when the computer program product runs on the computer, the computer is caused to perform part of the method as in the above method embodiments Or all steps.

In various embodiments of the present invention, it should be understood that the size of the sequence numbers of the above processes does not mean that the order of execution is necessarily inevitable. The execution order of each process should be determined by its function and inherent logic, and should not be implemented by the present invention. The implementation process of the examples constitutes no limitation.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be object units, that is, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or software function unit.

If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or part of the contribution to the existing technology or all or part of the technical solution, and the computer software product is stored in a memory It includes several requests to enable a computer device (which may be a personal computer, server, network device, etc., specifically a processor in the computer device) to perform some or all of the steps of the above methods in various embodiments of the present invention.

Those of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by a program instructing related hardware. The program may be stored in a computer-readable storage medium, and the storage medium includes read-only Memory (Read-Only Memory, ROM), Random Memory (Random Access, Memory, RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read Only Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), electronically erasable rewritable read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), compact disc (Compact Disc) Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other medium readable by a computer that can be used to carry or store data.

The method for determining the parking position and the device for determining the parking position disclosed in the embodiments of the present invention have been described in detail above. Specific examples are used in this paper to explain the principles and implementation of the present invention. To help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application, in summary, this description The content should not be construed as limiting the invention.

Claims

A method for determining a parking position, characterized in that the method includes:

In the process of controlling the parking of the vehicle in the parking space, the distance information between the ultrasonic detection device and the obstacle is acquired through the ultrasonic detection device;

Acquiring position information of the ultrasonic detection device;

Calculate the position of the obstacle according to the position information of the ultrasonic detection device, the distance information, and a preset correction angle; wherein, the preset correction angle is the direction in which the obstacle is actually located and the The angle between the central axis of the ultrasonic sensor;

The parking position is determined according to the positions of the plurality of obstacles.
The method according to claim 1, wherein in the process of controlling the vehicle to park in the parking space, acquiring the distance information between the ultrasonic detection device and the obstacle by the ultrasonic detection device includes:

In the process of controlling the vehicle to park in the parking space, the first ultrasonic detection module in the ultrasonic detection device sends ultrasonic waves;

Controlling the first ultrasonic detection module to receive the reflected wave reflected by the ultrasonic wave to calculate the first distance information of the first ultrasonic detection module and the obstacle according to the reflected wave;

Controlling the second ultrasonic detection module in the ultrasonic detection device to receive the reflected wave reflected by the ultrasonic wave to calculate the second distance information of the second ultrasonic detection module and the obstacle according to the reflected wave;

Acquiring the target distance between the first detection module and the second detection module;

Calculating the target angle between the reflected wave and the plane where the first detection module is located according to the target distance, the first distance information, and the second distance information;

The distance information between the ultrasonic detection device and the obstacle is calculated according to the included angle between the first distance information and the target.
The method according to claim 2, wherein before acquiring the position information of the ultrasonic detection device, the method further comprises:

Obtain the location distribution information of the obstacle; the location distribution information of the obstacle is generated according to the obstacle information collected by the ultrasonic detection device of the vehicle during the driving process of the vehicle keeping parallel with the parking space;

Determine the actual direction of the obstacle according to the location distribution information of the obstacle;

The angle between the central axis of the ultrasonic sensor and the direction in which the obstacle is actually located is used as the preset correction angle.
The method according to claim 3, wherein after acquiring the position information of the ultrasonic detection device, and calculating the position information based on the position information of the ultrasonic detection device, the distance information, and a preset correction angle Before the position of the obstacle, the method further includes:

Calculating the first position information of the obstacle according to the distance information of the ultrasonic detection device and the obstacle and the position information of the ultrasonic detection device;

Judging whether the first position information matches the obstacle position information in the obstacle position distribution information;

If yes, use the position corresponding to the first position information as the position of the obstacle, and perform the step of determining the parking position based on the positions of the plurality of obstacles;

If not, the step of calculating the position of the obstacle based on the position information of the ultrasonic detection device, the distance information, and a preset correction angle is performed.
The method according to claim 4, wherein the method further comprises:

In the process of controlling the vehicle to park in the parking space, obtain real-time location information of the vehicle;

Determine whether the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold;

If the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold, the vehicle is suspended and controlled to park in the parking space.
A parking space position determination device, characterized in that the device includes:

A first acquiring unit, configured to acquire the distance information between the ultrasonic detecting device and the obstacle through the ultrasonic detecting device during the process of controlling the parking of the vehicle in the parking space;

A second acquiring unit, configured to acquire position information of the ultrasonic detection device;

A first calculation unit, configured to calculate the position of the obstacle based on the position information of the ultrasonic detection device, the distance information, and a preset correction angle; wherein, the preset correction angle is the obstacle The angle between the actual direction and the central axis of the ultrasonic sensor;

The first determining unit is configured to determine the parking position according to the positions of the plurality of obstacles.
The apparatus according to claim 6, wherein the first acquiring unit comprises:

The sending subunit is used to send ultrasonic waves through the first ultrasonic detection module in the ultrasonic detection device during the process of controlling the vehicle to park in the parking space;

A first receiving subunit, configured to control the first ultrasonic detection module to receive the reflected wave reflected by the ultrasonic wave, so as to calculate the first distance information of the first ultrasonic detection module and the obstacle according to the reflected wave;

A second receiving subunit for controlling the second ultrasonic detection module in the ultrasonic detection device to receive the reflected wave reflected by the ultrasonic wave to calculate the second ultrasonic detection module and the obstacle according to the reflected wave Second distance information of objects;

An acquisition subunit, configured to acquire a target distance between the first detection module and the second detection module;

A first calculation subunit, configured to calculate the target angle between the reflected wave and the plane where the first detection module is located based on the target distance, the first distance information, and the second distance information;

The second calculation subunit is configured to calculate distance information between the ultrasonic detection device and the obstacle according to the included angle between the first distance information and the target.
The device according to claim 7, wherein the device further comprises:

A third obtaining unit, configured to obtain the position distribution information of the obstacle before the second obtaining unit obtains the position information of the ultrasonic detection device; the position distribution information of the obstacle is that the vehicle is parking with the vehicle It is generated according to the obstacle information collected by the ultrasonic detection device of the vehicle during the driving process with the position kept parallel;

A second determining unit, configured to determine the actual direction of the obstacle according to the position distribution information of the obstacle;

The third determining unit is configured to use an angle between the central axis direction of the ultrasonic sensor and the direction in which the obstacle is actually located as a preset correction angle.
The device according to claim 8, wherein the device further comprises:

A second calculation unit, which is used for acquiring the position information of the ultrasonic detection device by the second acquisition unit, and the first calculation unit according to the position information of the ultrasonic detection device, the distance information and the preset Before calculating the position of the obstacle by the correction angle, calculating the first position information of the obstacle based on the distance information of the ultrasonic detection device and the obstacle and the position information of the ultrasonic detection device;

A first determining unit, configured to determine whether the first position information matches the obstacle position information in the position distribution information of the obstacle;

And, the first determining unit is specifically configured to, when the first determining unit determines that the first position information matches the obstacle position information in the position distribution information of the obstacle, the first determining unit The position corresponding to the position information is used as the position of the obstacle, and the parking position is determined according to the positions of the plurality of obstacles;

The first calculation unit is specifically configured to, according to the ultrasonic detection device, when the first determination unit determines that the first position information does not match the obstacle position information in the position distribution information of the obstacle Position information of the obstacle, the distance information, and the preset correction angle.
The device according to claim 9, wherein the device further comprises:

The fourth obtaining unit is used to obtain real-time position information of the vehicle during the process of controlling the vehicle to park in the parking space;

A second judgment unit, configured to judge whether the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold;

A pause unit, configured to pause and control the vehicle to park in the parking space when the second judgment unit judges that the distance between the real-time position of the vehicle and the position of the obstacle is less than or equal to a preset distance threshold .