CN111361550A

CN111361550A - Parking space identification method and device and storage medium

Info

Publication number: CN111361550A
Application number: CN202010195624.9A
Authority: CN
Inventors: 徐达学; 姜灏; 周倪青; 沈红荣; 陈海鸥; 王萍; 陈健昕; 张世兵
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2020-07-03
Anticipated expiration: 2040-03-19
Also published as: CN111361550B

Abstract

The application discloses a parking space identification method and device and a storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: determining distance information between the automobile and an obstacle detected by the automobile in the driving process of the automobile, wherein the direction of the detected distance of the automobile is vertical to the driving direction of the automobile; determining whether the change rule of the distance information along with the driving distance of the automobile meets a parking condition or not; and when the change rule accords with the parking condition, determining that the space adjacent to the barrier is an inclined parking space which can be used for parking so as to finish parking space identification. According to the method and the device, the change rule of the distance change between the automobile and the barrier along with the automobile driving distance can be determined in the driving process of the automobile, and whether the space adjacent to the barrier is the inclined parking space for parking can be determined, so that the accuracy and the reliability of parking space identification are improved.

Description

Parking space identification method and device and storage medium

Technical Field

The present application relates to the field of vehicle engineering technologies, and in particular, to a parking space identification method, device, and storage medium.

Background

With the continuous development of automotive electronic technology, automobiles gradually become the main means of transportation for people going out. However, as the number of automobiles increases, the number of parking spaces of the automobiles is smaller and smaller, and the parking of the automobiles is more and more difficult. Therefore, the driver can park the vehicle through the automatic parking system of the automobile, so that the parking difficulty is reduced. When automatic parking is performed, the vehicle is generally required to identify the parking space.

At present, when a car is identified in a parking space, the car is generally identified through a camera and a radar around the car. For a vertical parking space or a horizontal parking space, the automobile can effectively identify available parking spaces through the camera and the radar and is controlled to park.

However, as the number of cars is increasing, the space of the parking spaces is narrower and narrower, and more inclined parking spaces appear, for the inclined parking spaces, when the vertical parking spaces and the horizontal parking spaces are identified by the identification method, the inclined parking spaces are often not identified, so that the reliability of the parking space identification is low.

Disclosure of Invention

The application provides a parking space identification method, a parking space identification device and a storage medium, which can solve the problem that the reliability of parking space identification is low because the skew parking spaces cannot be identified in the related technology. The technical scheme is as follows:

on the one hand, a parking space identification method is provided, and the method comprises the following steps:

determining distance information between the automobile and an obstacle detected by the automobile in the driving process of the automobile, wherein the direction of the detected distance of the automobile is vertical to the driving direction of the automobile;

determining whether the change rule of the distance information along with the driving distance of the automobile meets a parking condition or not;

and when the change rule accords with the parking condition, determining that the space adjacent to the barrier is an inclined parking space which can be used for parking so as to finish parking space identification.

In some embodiments, the determining information of the distance between the obstacle and the vehicle detected by the vehicle during the driving of the vehicle includes:

determining a first distance change range between the obstacle detected by the automobile during the process that the automobile travels a first travel distance;

determining a second distance change range between the obstacle and the vehicle detected by the vehicle during the vehicle travels a second travel distance, wherein the second travel distance is a distance which the vehicle continues to travel after traveling the first travel distance;

determining a third distance variation range between the obstacle and the vehicle detected by the vehicle during the vehicle travels a third travel distance, wherein the third travel distance is a distance which the vehicle continues to travel after traveling the second travel distance;

and determining a fourth distance variation range between the obstacle and the automobile detected by the automobile in the process of driving the automobile for a fourth driving distance, wherein the fourth driving distance is the distance which is driven by the automobile after the automobile drives the third driving distance.

In some embodiments, the distance information includes a first distance variation range, a second distance variation range, a third distance variation range, and a fourth distance variation range detected;

the determining whether the change rule of the distance information along with the driving distance of the automobile meets the parking condition includes:

when the first distance variation range conforms to a first variation rule and the second distance variation range conforms to a second variation rule, and the third distance variation range conforms to a third variation law, and the fourth distance variation range conforms to the first variation law, and the first distance variation range is within a first preset range, and the second distance variation range is within a second preset range, and the third distance variation range is within a third preset range, and the fourth distance variation range is within a fourth preset range, determining a linear relation between the first distance change range, the second distance change range, the third distance change range and the fourth distance change range and the corresponding automobile driving distance, wherein each driving distance of the automobile meets a driving threshold value condition;

and when the linear relation between the first distance change range, the second distance change range, the third distance change range and the fourth distance change range and the corresponding automobile driving distance is matched with a preset linear relation, determining that the change rule of the distance information accords with the bilateral parking condition.

when the first distance variation range conforms to a first variation rule, the second distance variation range conforms to a second variation rule, the third distance variation range conforms to a third variation rule, the fourth distance variation range conforms to the third variation rule, the first distance variation range is within a first preset range, the second distance variation range is within a second preset range, and the third distance variation range is within a third preset range, determining linear relations among the first distance variation range, the second distance variation range and the third distance variation range and corresponding automobile driving distances, wherein each section of driving distance of the automobile satisfies a driving threshold condition;

and when the linear relation among the first distance change range, the second distance change range and the third distance change range and the corresponding automobile driving distance is matched with a preset linear relation, determining that the change rule of the distance information accords with a first one-side parking condition.

when the first distance variation range conforms to a third variation rule, the second distance variation range conforms to the first variation rule, the third distance variation range conforms to the second variation rule, the first distance variation range is within a third preset range, the second distance variation range is within the first preset range, and the third distance variation range is within the second preset range, the linear relation among the first distance variation range, the second distance variation range and the third distance variation range and the corresponding automobile driving distance is determined, and each section of the automobile driving distance meets the driving threshold value condition;

and when the linear relation among the first distance change range, the second distance change range and the third distance change range and the corresponding automobile driving distance is matched with a preset linear relation, determining that the change rule of the distance information accords with a second one-side parking condition.

In some embodiments, the determining that the space adjacent to the obstacle is a skew parking space that can be used for parking when the change law conforms to the parking condition includes:

when the change rule accords with bilateral parking conditions, determining that two obstacles exist, wherein a space between the two obstacles is an inclined parking space which can be used for parking;

when the change rule accords with a first unilateral parking condition, determining that an obstacle exists, wherein a space on one side of the obstacle, which is the same as the driving direction of the automobile, is an inclined parking space which can be used for parking;

and when the change rule accords with a second unilateral parking condition, determining that an obstacle exists, wherein a space on one side of the obstacle opposite to the driving direction of the automobile is an inclined parking space which can be used for parking.

In another aspect, a parking space recognition apparatus is provided, the apparatus including:

the device comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining distance information between an obstacle and an automobile detected by the automobile in the driving process of the automobile, and the direction of the automobile detected distance is vertical to the driving direction of the automobile;

the second determining module is used for determining whether the change rule of the distance information along with the driving distance of the automobile meets the parking condition or not;

and the third determining module is used for determining that the space adjacent to the barrier is an inclined parking space which can be used for parking when the change rule accords with the parking condition so as to finish the parking space identification.

In some embodiments, the first determining module comprises:

the first determining submodule is used for determining a first distance change range between the obstacle and the vehicle detected by the vehicle in the process of driving the vehicle for a first driving distance;

a second determining submodule, configured to determine a second distance variation range between the obstacle and the vehicle detected by the vehicle during a second driving distance, where the second driving distance is a distance that the vehicle continues to drive after driving the first driving distance;

a third determining submodule configured to determine a third distance variation range between the obstacle and the vehicle detected by the vehicle during a third travel distance, where the third travel distance is a distance that the vehicle continues to travel after traveling the second travel distance;

a fourth determination submodule configured to determine a fourth distance variation range between the obstacle and the vehicle detected by the vehicle during a fourth driving distance, where the fourth driving distance is a distance that the vehicle continues to drive after the third driving distance is driven by the vehicle.

the second determination module is to:

In some embodiments, the third determination module is to:

In another aspect, an automobile is provided, where the automobile includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so as to implement the steps of the parking space identification method.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the parking space identification method described above.

In another aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the steps of the above-mentioned parking space identification method.

The technical scheme provided by the application can at least bring the following beneficial effects:

according to the method and the device, the distance information between the automobile and the obstacle can be determined in the driving process of the automobile, the change rule of distance informatization along with the driving distance of the automobile is determined, and when the change rule meets the parking condition, the space adjacent to the obstacle can be determined to be the inclined parking space for parking, so that the accuracy and the reliability of parking space identification are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a parking space identification system according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a parking space identification method provided in the embodiment of the present application;

fig. 3 is a flowchart of another parking space identification method according to an embodiment of the present application;

fig. 4 is a schematic parking space diagram with obstacles on two sides according to an embodiment of the present disclosure;

fig. 5 is a schematic parking space diagram illustrating a first single-side obstacle provided in the embodiment of the present application;

fig. 6 is a schematic parking space diagram illustrating a second single-side obstacle provided in the embodiment of the present application;

fig. 7 is a schematic structural diagram of a parking space identification device according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a first determining module provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of an automobile according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the parking space identification method provided by the embodiment of the present application in detail, an application scenario and a system architecture provided by the embodiment of the present application are introduced first.

First, an application scenario related to the embodiment of the present application will be described.

The automatic parking system can detect the parking space through sensors such as radars, cameras and the like around the vehicle, and automatically complete parking in the parking space under the condition that a driver does not hold a steering wheel. The automatic parking process developed by the whole car factory can be divided into 3 parts, namely parking space detection, path planning and transverse and longitudinal control. The parking space detection is to monitor the parking space information of the vehicle and the roadside vehicle by using an ultrasonic sensor, vision and the like and judge whether the size of the parking space meets the parking requirement or not; the path planning is that the central processing unit plans and calculates an optimal parking path and a strategy according to the relative position and other data of the automobile and the target parking space; the transverse and longitudinal control is mainly used for executing path planning, converting a relevant strategy into an electric signal and transmitting the electric signal to an actuator, and guiding the automobile to park according to a planned path according to an instruction.

Based on such a scene, the embodiment of the application provides a parking space identification method for improving the parking space identification reliability.

Next, a system architecture according to an embodiment of the present application will be described.

Fig. 1 is a schematic diagram of a parking space identification system provided in an embodiment of the present application, and referring to fig. 1, the system may include a controller 1 of an automobile, a plurality of ultrasonic probes 2 (taking fig. 1 as an example, the ultrasonic probes may be installed around the automobile), and a steering and braking mechanism 3 of the automobile. The Controller 1 may be connected to the plurality of ultrasonic probes 2 and the steering and braking mechanism 3 via a CAN (Controller Area Network) bus.

As an example, the plurality of ultrasonic probes 2 are used to detect distance information between the automobile and an obstacle during driving of the automobile and transmit the detected distance information to the controller 1; the steering and braking mechanism 3 may send steering angle and wheel speed information to the controller 1; the controller 1 may be configured to determine a driving distance of the vehicle according to the steering angle and the wheel speed information, determine whether a change rule of the distance information along with the driving distance of the vehicle meets a parking condition, and determine a space adjacent to the obstacle as an inclined parking space that can be used for parking when the change rule meets the parking condition, so as to complete parking space identification.

It should be understood by those skilled in the art that the foregoing system architecture is merely exemplary, and that other modules, architectures, etc. that are currently or later become available may be suitable for use in the present application and are intended to be included within the scope of the present application and are hereby incorporated by reference.

The following describes the parking space identification method provided in the embodiment of the present application in detail with reference to the accompanying drawings.

Fig. 2 is a flowchart of a parking space identification method according to an embodiment of the present application, where the method is applied to an automobile. Referring to fig. 2, the method includes the following steps.

Step 201: during the driving of the automobile, information of the distance between the automobile and the obstacle is determined, and the direction of the automobile detection distance is perpendicular to the driving direction of the automobile.

Step 202: and determining whether the change rule of the distance information along with the driving distance of the automobile meets the parking condition.

Step 203: and when the change rule conforms to the parking condition, determining that the space adjacent to the barrier is a slant parking space which can be used for parking so as to finish parking space identification.

In some embodiments, determining distance information between the obstacle and the vehicle detected by the vehicle during driving of the vehicle includes:

determining a second distance change range between the obstacle and the vehicle detected by the vehicle in the process of driving the vehicle by a second driving distance, wherein the second driving distance is the distance which the vehicle continues to drive after driving the first driving distance;

determining a third distance variation range between the obstacle and the vehicle detected by the vehicle in the process of traveling a third travel distance, wherein the third travel distance is the distance traveled after the vehicle travels the second travel distance;

determining whether the change rule of the distance information along with the driving distance of the automobile meets the parking condition or not, wherein the method comprises the following steps:

when the first distance variation range conforms to a first variation rule, the second distance variation range conforms to a second variation rule, the third distance variation range conforms to a third variation rule, the fourth distance variation range conforms to the first variation rule, the first distance variation range is within a first preset range, the second distance variation range is within a second preset range, the third distance variation range is within a third preset range, and the fourth distance variation range is within a fourth preset range, determining a linear relationship among the first distance variation range, the second distance variation range, the third distance variation range and the fourth distance variation range and the corresponding automobile driving distance, wherein the driving distance of each section of the automobile satisfies a driving threshold condition;

when the first distance variation range conforms to a first variation rule, the second distance variation range conforms to a second variation rule, the third distance variation range conforms to a third variation rule, the fourth distance variation range conforms to the third variation rule, the first distance variation range is within a first preset range, the second distance variation range is within a second preset range, and the third distance variation range is within a third preset range, determining linear relations among the first distance variation range, the second distance variation range, the third distance variation range and the corresponding automobile driving distance, wherein each section of driving distance of the automobile satisfies a driving threshold condition;

and when the linear relation among the first distance change range, the second distance change range and the third distance change range and the corresponding automobile driving distance is matched with the preset linear relation, determining that the change rule of the distance information accords with a first one-side parking condition.

when the first distance variation range conforms to a third variation rule, the second distance variation range conforms to the first variation rule, the third distance variation range conforms to the second variation rule, the first distance variation range is within a third preset range, the second distance variation range is within the first preset range, and the third distance variation range is within the second preset range, the linear relation among the first distance variation range, the second distance variation range, the third distance variation range and the corresponding automobile driving distance is determined, and each section of the automobile driving distance satisfies a driving threshold condition;

and when the linear relation among the first distance change range, the second distance change range and the third distance change range and the corresponding automobile driving distance is matched with the preset linear relation, determining that the change rule of the distance information accords with a second one-side parking condition.

In some embodiments, when the change rule conforms to the parking condition, determining that the space adjacent to the obstacle is a skewed parking space that can be used for parking includes:

when the change rule accords with bilateral parking conditions, determining that two obstacles exist, and the space between the two obstacles is an inclined parking space which can be used for parking;

when the change rule accords with a second unilateral parking condition, a barrier is determined to exist, and the space on one side of the barrier opposite to the driving direction of the automobile is an inclined parking space which can be used for parking.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 3 is a flowchart of a parking space identification method according to an embodiment of the present application, and referring to fig. 3, the method includes the following steps.

Step 301: during the driving of the automobile, information of the distance between the automobile and the obstacle is determined, and the direction of the automobile detection distance is perpendicular to the driving direction of the automobile.

Since a driver may start an automatic parking system of an automobile while the automobile is driving, the parking space needs to be automatically identified after the automobile starts the automatic parking system. And when the automobile is used for searching the parking space, the automobile may pass through other automobiles, a space may exist between the automobiles in the other automobiles, or a space may exist beside one automobile, and the space may meet the parking requirement of the automobile or may not meet the parking requirement of the automobile, so that the automobile can determine the distance information between the detected automobile and the obstacle in order to identify the parking space.

It should be noted that, since the parking spaces are usually located on both sides of the driving direction of the vehicle, the direction of the detected distance of the vehicle is perpendicular to the driving direction of the vehicle.

As an example, during the driving of the automobile, the operation of determining the distance information between the obstacle and the detected automobile may be: determining a first distance change range between the obstacle and the vehicle detected by the vehicle in the process of driving the vehicle for a first driving distance; determining a second distance change range between the automobile and the obstacle, which is detected by the automobile, in the process that the automobile runs a second running distance, wherein the second running distance is the distance that the automobile continues to run after running the first running distance; determining a third distance change range between the obstacle and the vehicle detected by the vehicle in the process of driving the vehicle by a third driving distance, wherein the third driving distance is the distance which is continuously driven after the vehicle drives by the second driving distance; and determining a fourth distance change range between the obstacle detected by the automobile in the process of driving the automobile by a fourth driving distance, wherein the fourth driving distance is the distance which is continuously driven after the automobile drives the third driving distance.

Because the parking spaces exist on two sides of the driving direction of the automobile and are also in the inclined line, the barrier may be other automobiles parked in other inclined line parking spaces, and because the inclined line parking spaces and the driving direction of the automobile have an angle, after other automobiles are parked in the inclined line parking spaces, the distance between the automobile and the barrier changes along with the driving of the automobile at different distances, and therefore, the distance change range between the automobile and the barrier when the automobile drives at the distance needs to be determined every time the automobile drives at a distance.

It should be noted that each distance traveled by the automobile is within the corresponding distance traveled range, for example, the first distance traveled is within the first distance range, the second distance traveled is within the second distance range, the third distance traveled is within the third distance range, and the fourth distance traveled is within the fourth distance range. And the first distance range, the second distance range, the third distance range and the fourth distance range may all be set in advance, for example, the first distance range may be less than 4.5 meters, the second distance range may be less than 2 meters, the third distance range may be less than 2.8 meters, and the fourth distance range may be less than 4.5 meters.

As CAN be seen from the above, the automobile may include a plurality of ultrasonic probes, and during the running process of the automobile, the ultrasonic probe installed at one side of the automobile may transmit and receive ultrasonic signals, and the controller in the automobile may calculate distance information between the automobile and an obstacle in real time according to the transmitted and received ultrasonic signals, and at the same time, the automobile may record a running track of the automobile, such as a running distance of the automobile, according to the vehicle rotation angle and wheel speed information of the steering and braking actuator, which are acquired from the chassis CAN.

Step 302: the automobile determines whether the change rule of the distance information along with the driving distance of the automobile meets the parking condition.

Therefore, when the two sides of the driving direction of the automobile have the inclined parking spaces, due to the fact that the inclined parking spaces and the driving direction of the automobile have the angles, after other automobiles park in the inclined parking spaces, the distance between the automobile and the obstacle can change along with the fact that the automobile drives at different distances, and the change usually has a certain rule. And the change of the empty parking space is different from the change of the empty parking space, so that the automobile can determine whether the change rule of the distance information along with the driving distance of the automobile meets the parking condition.

The known distance information can include a first distance change range, a second distance change range, a third distance change range and a fourth distance change range which are detected, and because the inclined parking spaces with the reference cars on both sides and the inclined parking spaces with the reference cars on one side are different, the change of each distance range along with the driving distance of the car is different, so that the operation of determining whether the change rule of the distance information along with the driving distance of the car meets the parking condition by the car is different.

As an example, the operation of determining whether the change rule of the distance information with the travel distance of the automobile meets the parking condition may be: when the first distance variation range conforms to the first variation rule, the second distance variation range conforms to the second variation rule, the third distance variation range conforms to the third variation rule, the fourth distance variation range conforms to the first variation rule, the first distance variation range is positioned in the first preset range, the second distance variation range is positioned in the second preset range, the third distance variation range is positioned in the third preset range, and the fourth distance variation range is positioned in the fourth preset range, determining the linear relation among the first distance variation range, the second distance variation range, the third distance variation range and the fourth distance variation range and the corresponding automobile driving distance, wherein each section of driving distance of the automobile satisfies the driving threshold condition; and when the linear relation between the first distance change range, the second distance change range, the third distance change range and the fourth distance change range and the corresponding automobile driving distance is matched with the preset linear relation, determining that the change rule of the distance information accords with the bilateral parking condition.

It should be noted that, the first change law, the second change law, the third change law and the fourth change law can be set up as required in advance, for example, if the inclined parking stall is the parking stall that has the barrier on both sides, and carry out the distance detection through installing the ultrasonic probe in driver's seat one side of the car, then the first change law can be for the distance between car and the barrier by big diminishing, the second change law can be for the distance between car and the barrier by little grow, the third change law can be for the distance between car and the barrier hardly changes.

For example, in the parking space diagram with obstacles on both sides as shown in fig. 4, the position of the ultrasonic probe on the front side of the vehicle is taken as the origin, the driving direction of the vehicle is the positive Y direction, the Y direction is parallel to the longitudinal central axis of the vehicle, the direction of the ultrasonic wave emitted by the ultrasonic probe is the positive X direction, and the X direction is perpendicular to the Y direction, so that the distance information detected by the vehicle will continuously and linearly change along with the driving distance of the vehicle. That is, when the automobile travels the first travel distance, it can be detected that the first distance variation range is within the first preset range and conforms to the first variation rule from big to small; when the automobile continues to run for a second running distance, the automobile can detect that the change range of the second distance is within a second preset range and accords with a second change rule from small to big; when the automobile continues to travel the third travel distance, the automobile can detect that the third distance change range is within a third preset range and accords with a third change rule that the distance hardly changes; when the automobile continues to travel the fourth travel distance, the automobile can detect that the fourth distance variation range is within the fourth preset range and accords with the first variation rule from big to small.

It should be noted that the first preset range, the second preset range, the third preset range and the fourth preset range may be set in advance according to requirements, for example, the first preset range may be 1.9 m to 4.2 m, the second preset range may be 0.9 m to 1.7 m, the third preset range may be greater than 4 m, the fourth preset range may be 1.9 m to 4.2 m, and the like.

It should be further noted that, since the first distance variation range, the second distance variation range, the third distance variation range and the fourth distance variation range may be determined, and each distance variation range and the corresponding vehicle driving distance may be determined, a linear relationship between the first distance variation range, the second distance variation range, the third distance variation range and the fourth distance variation range and the corresponding vehicle driving distance may be determined, and if the linear relationship matches a preset linear relationship, it may be determined that a variation rule of the distance information conforms to the double-sided parking condition. For example, a predetermined linear relationship d is satisfied_y＝Kd_xWherein d is_yDistance traveled by the vehicle, d_xK is a constant and is the distance change range between the automobile and the obstacle corresponding to each section of the driving distance.

As an example, a distance error range may be set, which may be a vehicle driving distance error and/or a distance variation range error between the vehicle and the obstacle. The error range may be-0.3 to + 0.3.

As an example, the operation of the automobile determining whether the change rule of the distance information with the travel distance of the automobile meets the parking condition may further be: when the first distance variation range conforms to the first variation rule, the second distance variation range conforms to the second variation rule, the third distance variation range conforms to the third variation rule, the fourth distance variation range conforms to the third variation rule, the first distance variation range is positioned in the first preset range, the second distance variation range is positioned in the second preset range, and the third distance variation range is positioned in the third preset range, determining the linear relation among the first distance variation range, the second distance variation range and the third distance variation range and the corresponding automobile driving distance, wherein each section of driving distance of the automobile meets the driving threshold value condition; and when the linear relation between the first distance change range, the second distance change range and the third distance change range and the corresponding automobile driving distance is matched with the preset linear relation, determining that the change rule of the distance information accords with the first one-side parking condition.

For example, as shown in the parking space diagram of fig. 5 where the obstacle exists on the first single side, when the vehicle travels the first travel distance, it may be detected that the first distance variation range is within the first preset range and conforms to the first variation rule from large to small; when the automobile continues to run for a second running distance, the automobile can detect that the change range of the second distance is within a second preset range and accords with a second change rule from small to big; when the automobile continues to travel the third travel distance, the automobile can detect that the third distance change range is within a third preset range and accords with a third change rule that the distance hardly changes; when the automobile continues to travel the fourth travel distance, the automobile can detect that the fourth distance variation range still conforms to the third variation law that the distance hardly varies.

As an example, the operation of the automobile determining whether the change rule of the distance information with the travel distance of the automobile meets the parking condition may further be: when the first distance variation range conforms to a third variation rule, the second distance variation range conforms to the first variation rule, the third distance variation range conforms to the second variation rule, the first distance variation range is within a third preset range, the second distance variation range is within the first preset range, and the third distance variation range is within the second preset range, determining linear relations among the first distance variation range, the second distance variation range, the third distance variation range and corresponding automobile driving distances, wherein each section of driving distance of the automobile meets a driving threshold value condition; and when the linear relation between the first distance change range, the second distance change range and the third distance change range and the corresponding automobile driving distance is matched with the preset linear relation, determining that the change rule of the distance information accords with a second one-side parking condition.

For example, as shown in the parking space diagram of fig. 6 where the obstacle exists on the second single side, when the vehicle travels the first travel distance, it may be detected that the first distance variation range is within the third preset range, and the third variation rule that the distance is hardly changed is satisfied; when the automobile continues to travel for a second travel distance, the automobile can detect that the change range of the second distance is within a first preset range and accords with a first change rule that the distance is changed from big to small; when the automobile continues to travel the third travel distance, the automobile can detect that the third distance variation range is within the second preset range and accords with a third variation rule that the distance is changed from small to large.

Step 303: when the change rule accords with the parking condition, the automobile can determine that the space adjacent to the barrier is the inclined parking space which can be used for parking so as to finish the parking space identification.

As an example, when the variation law conforms to the parking condition, the operation of the automobile to determine that the space adjacent to the obstacle is a strayed parking space that can be used for parking may be: when the change rule accords with the bilateral parking condition, determining that two obstacles exist, and the space between the two obstacles is a strabismus parking space which can be used for parking, for example, a strabismus parking space P shown in fig. 4; when the change rule accords with a first one-side parking condition, determining that an obstacle exists, and setting a space on one side of the obstacle, which is the same as the driving direction of the automobile, as an inclined parking space which can be used for parking, for example, an inclined parking space P shown in fig. 5; when the change rule conforms to the second one-side parking condition, it is determined that an obstacle exists, and a space on a side of the obstacle opposite to the driving direction of the automobile is a strayed parking space that can be used for parking, for example, a strayed parking space P shown in fig. 6.

Step 304: and (5) parking the automobile into the determined inclined-line parking space.

As an example, after determining a slot in a strabismus, the vehicle may park the vehicle into the determined slot in accordance with the automated parking system.

As an example, the automobile may also indicate to the driver where the place of the off-ramp parking space is after the off-ramp parking space is determined.

In the embodiment of the application, the distance information between the automobile and the obstacle can be determined by utilizing the distance characteristic of ultrasonic waves in the driving process of the automobile, the change rule of distance informatization along with the driving distance of the automobile is determined, and when the change rule meets the parking condition, the space adjacent to the obstacle can be determined as the inclined parking space for parking, so that the accuracy and the reliability of parking space identification are improved, and the risks of mistaken identification and missed identification are reduced.

After explaining the method for identifying a parking space provided by the embodiment of the present application, a device for identifying a parking space provided by the embodiment of the present application is introduced next.

Fig. 7 is a schematic structural diagram of a parking space identification device provided in an embodiment of the present application, where the parking space identification device may be implemented as part or all of an automobile by software, hardware, or a combination of the software and the hardware. Referring to fig. 7, the apparatus includes: a first determining module 701, a second determining module 702 and a third determining module 703.

The first determining module 701 is configured to determine distance information between an obstacle detected by an automobile during driving of the automobile, where a direction of the detected distance of the automobile is perpendicular to a driving direction of the automobile;

a second determining module 702, configured to determine whether a change rule of the distance information along with a driving distance of the automobile meets a parking condition;

a third determining module 703, configured to determine, when the change rule meets the parking condition, that a space adjacent to the obstacle is an inclined parking space that can be used for parking, so as to complete parking space identification.

In some embodiments, referring to fig. 8, the first determining module 701 comprises:

a first determining submodule 7011 configured to determine a first distance variation range between the obstacle and the vehicle detected by the vehicle while the vehicle travels a first travel distance;

a second determining submodule 7012, configured to determine a second distance variation range between the obstacle and the vehicle detected by the vehicle during a second driving distance, where the second driving distance is a distance that the vehicle continues to drive after the first driving distance is driven by the vehicle;

a third determining submodule 7013, configured to determine a third distance variation range between the obstacle and the vehicle detected by the vehicle during a third travel distance traveled by the vehicle, where the third travel distance is a distance traveled by the vehicle after traveling the second travel distance;

a fourth determining submodule 7014 is configured to determine a fourth distance variation range between the obstacle and the vehicle detected by the vehicle during a fourth distance traveled by the vehicle after the vehicle traveled the third distance.

the second determining module 702 is configured to:

In some embodiments, the third determining module 703 is configured to:

It should be noted that: the parking space recognition device provided by the above embodiment is exemplified by only the division of the above functional modules when recognizing a parking space, and in practical application, the above function distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the parking space identification device provided by the embodiment and the parking space identification method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not repeated here.

Fig. 9 is a block diagram of an automobile 900 according to an embodiment of the present application. Generally, the automobile 900 includes: a processor 901 and a memory 902.

Processor 901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 901 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 901 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 901 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 901 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

Memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer readable storage medium in the memory 902 is used for storing at least one instruction, which is used for being executed by the processor 901 to implement the method for identifying a parking space provided by the method embodiment in the present application.

In some embodiments, the automobile 900 may further optionally include: a peripheral interface 903 and at least one peripheral. The processor 901, memory 902, and peripheral interface 903 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 904, a display screen 905, a camera assembly 906, an audio circuit 907, a positioning assembly 908, and a power supply 909.

The peripheral interface 903 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 901 and the memory 902. In some embodiments, the processor 901, memory 902, and peripheral interface 903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 901, the memory 902 and the peripheral interface 903 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.

The Radio Frequency circuit 904 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 904 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 904 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 904 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 904 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 904 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 905 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 905 is a touch display screen, the display screen 905 also has the ability to capture touch signals on or over the surface of the display screen 905. The touch signal may be input to the processor 901 as a control signal for processing. At this point, the display 905 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 905 may be one, providing the front panel of the automobile 900; in other embodiments, the number of the display panels 905 may be at least two, and each of the display panels may be disposed on a different surface of the automobile 900 or may be of a foldable design; in still other embodiments, the display 905 may be a flexible display, disposed on a curved surface or on a folded surface of the automobile 900. Even more, the display screen 905 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display panel 905 can be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.

The camera assembly 906 is used to capture images or video. Optionally, the camera assembly 906 includes any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement a background blurring function implemented by the fusion of the main camera and the depth-of-field camera, a panoramic shooting function implemented by the fusion of the main camera and the wide-angle camera, a VR (Virtual Reality) shooting function implemented by the fusion of the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, camera assembly 906 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

Audio circuit 907 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 901 for processing, or inputting the electric signals to the radio frequency circuit 904 for realizing voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located in different locations of the automobile 900. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 901 or the radio frequency circuit 904 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuit 907 may also include a headphone jack.

The positioning component 908 is used to locate the current geographic location of the automobile 900 to implement navigation or LBS (location based Service). The positioning component 908 may be a positioning component based on the GPS (global positioning System) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 909 is used to supply power to various components in the automobile 900. The power source 909 may be alternating current, direct current, disposable or rechargeable. When the power source 909 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the automobile 900 also includes one or more sensors 910.

Those skilled in the art will appreciate that the configuration shown in fig. 9 is not intended to be limiting of the vehicle 900 and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.

In some embodiments, a computer-readable storage medium is further provided, in which a computer program is stored, and when executed by a processor, the computer program implements the steps of the parking space identification method in the above embodiments. For example, the computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (random access Memory), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, a computer program product containing instructions is also provided, which when run on a computer causes the computer to perform the steps of the above-mentioned parking space identification method.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A parking space identification method is characterized by comprising the following steps:

2. The method of claim 1, wherein determining distance information between the obstacle detected by the vehicle during the driving of the vehicle comprises:

3. The method of claim 1 or 2, wherein the distance information comprises a first, second, third and fourth detected range of distance variation;

4. The method of claim 1 or 2, wherein the distance information comprises a first, second, third and fourth detected range of distance variation;

5. The method of claim 1 or 2, wherein the distance information comprises a first, second, third and fourth detected range of distance variation;

6. The method according to claim 1, wherein the determining that the space adjacent to the obstacle is a strayed spot available for parking when the change law conforms to the parking condition includes:

7. An identification device of a parking space, characterized in that the device comprises:

8. The apparatus of claim 7, wherein the first determining module comprises:

9. The apparatus of claim 7 or 8, wherein the distance information comprises a first range of detected distance variation, a second range of detected distance variation, a third range of detected distance variation, and a fourth range of detected distance variation;

the second determination module is to:

10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.