CN111824130A - Parking control method and device, vehicle and storage medium - Google Patents
Parking control method and device, vehicle and storage medium Download PDFInfo
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The embodiment of the invention provides a parking control method, a parking control device, a vehicle and a storage medium, wherein the parking control method comprises the following steps: acquiring real-time pose and environment information of a vehicle; determining current parking scene information according to the environment information and preset historical parking data; generating a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area; updating the parking path based on the environmental information when the vehicle moves to the update area; controlling the vehicle to run according to the updated parking path; and the current parking scene information comprises virtual parking spaces. According to the embodiment of the invention, the corresponding parking path can be generated based on the historical parking data and the current environment information, and automatic parking is carried out.
Description
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a parking control method, a parking control apparatus, a vehicle, and a storage medium.
Background
With the accelerated integration of technologies such as electronics, information, communication and the like and the automobile industry, automobiles are also developing towards the direction of intellectualization and networking. With the development of automobiles, many automobiles can realize automatic parking.
Most of the existing automatic parking functions are based on the parking space scene generation in a perception fusion mode, and then the path planning and executing process is carried out.
In the existing automatic parking function in the market, due to the performance limitation of the ultrasonic radar and the look-around camera (optional), information of an estimated vehicle environment cannot be accurately distinguished when a scene is generated for the first time, so that the automatic parking effect is poor, and manual adjustment may be needed.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed to provide a parking control method and a corresponding parking control apparatus that overcome or at least partially solve the above-described problems.
In order to solve the above problem, an embodiment of the present invention discloses a parking control method, including:
acquiring real-time pose and environment information of a vehicle;
determining current parking scene information according to the environment information and preset historical parking data;
generating a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area;
updating the parking path based on the environmental information when the vehicle moves to the update area;
controlling the vehicle to run according to the updated parking path;
and the current parking scene information comprises virtual parking spaces.
Optionally, the historical parking data comprises historical parking scene information;
the step of determining the current parking scene information according to the environment information and preset historical parking data comprises the following steps:
extracting scene features matched with the environment information;
and determining the historical parking scene information matched with the scene characteristics as the current parking scene information.
Optionally, the step of updating the parking path based on the environment information includes:
updating the current parking scene information by adopting the environmental information obtained in the vehicle moving process;
updating the parking path by adopting the updated current parking scene information and the real-time pose;
and the current parking scene information also comprises entity information.
Optionally, the virtual parking space is a vertical parking space; the virtual parking space comprises a virtual short edge; the method further comprises the following steps:
and when the vehicle moves to a position which is less than or equal to a preset first length threshold value from the virtual short edge according to the parking path, determining that the vehicle moves to the updating area.
Optionally, the virtual parking space further includes virtual long edges connected to two ends of the virtual short edge, and width information between the virtual long edges; the method further comprises the following steps:
determining error information of the real-time pose and the updated parking path;
determining a distance value between the vehicle and the virtual long edge by adopting the error information, the width information and preset vehicle width information;
and when the distance value is smaller than a preset second length threshold value, generating a warehouse-out path.
Optionally, the virtual parking spaces are parallel parking spaces; the virtual parking space comprises a virtual long edge; the method further comprises the following steps:
and when the vehicle moves to a distance less than or equal to a third length threshold from the virtual long edge according to the parking path, determining that the vehicle moves to the updating area.
Optionally, the virtual parking space further includes virtual short edges connected to two ends of the virtual long edge; the method further comprises the following steps:
when the vehicle moves to a position point to be steered, updating the virtual short edge by adopting the environment information;
adjusting the updated parking path based on the updated virtual short edge.
Optionally, the method further comprises:
judging whether the updated current parking scene information meets a preset parking available condition; the updated current scene information comprises an updated virtual parking space;
if so, controlling the vehicle to run according to the updated parking path;
if not, generating prompt information;
the parking available conditions comprise that the updated virtual parking space meets preset specifications.
The embodiment of the invention also discloses a parking control device, which comprises:
the acquisition module is used for acquiring the real-time pose and the environmental information of the vehicle;
the scene module is used for determining current parking scene information according to the environment information and preset historical parking data;
the path module is used for generating a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area;
the updating module is used for updating the parking path based on the environment information when the vehicle moves to the updating area;
the control module is used for controlling the vehicle to run according to the updated parking path;
and the current parking scene information comprises virtual parking spaces.
The embodiment of the invention also discloses a vehicle, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, the steps of the parking control method are realized.
The embodiment of the invention also discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the parking control method are realized.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the current parking scene information is determined according to the environment information and preset historical parking data by acquiring the real-time pose and the environment information of the vehicle, and a parking path is generated according to the real-time pose and the current parking scene information; the parking path is provided with an updating area, when the vehicle moves to the updating area, the parking path is updated based on the environment information, the vehicle is controlled to run according to the updated parking path, the parking scene mode and the parking path can be continuously adjusted according to the surrounding environment information and the real-time pose of the vehicle in the parking process, and therefore the vehicle always selects a better parking path in the parking process, the parking effect required by a user is achieved, and the parking experience of the user is improved.
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FIG. 1 is a flow chart of the steps of an embodiment of a parking control method of the present invention;
FIG. 2 is a flowchart illustrating steps in another embodiment of a parking control method of the present invention;
FIG. 3 is a schematic view of a vertical parking space of the present invention;
FIG. 4 is a schematic view of a parallel parking space of the present invention;
FIG. 5 is a flow chart illustrating the steps of a parking control method of the present invention;
fig. 6 is a block diagram showing the configuration of an embodiment of the parking control apparatus according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
One of the core ideas of the embodiment of the invention is that a current parking scene and corresponding current parking scene information are determined by collecting environment information near a vehicle and combining historical parking data stored based on big data, a parking path is generated by a real-time pose of the vehicle and the current parking scene information, and when the vehicle moves along the parking path, the parking path is continuously updated according to the current position of the vehicle and the surrounding environment information, so that the vehicle always adopts a better parking path in the parking process, and the parking effect is improved.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a parking control method according to the present invention is shown, which may specifically include the following steps:
the real-time pose of the vehicle refers to the position where the vehicle is located at the current moment, and the pose of the vehicle, i.e., the direction in which the vehicle head faces, and the environment information refers to the environmental conditions around the vehicle, such as whether there are obstacles around the vehicle, the shape of the obstacles, and the distance between the obstacles.
Specifically, the real-time pose and environment information of the vehicle can be acquired through sensing devices such as a look-around camera and an ultrasonic device on the vehicle.
the historical parking data may include environmental information around a parking space where the vehicle is parked, after the environmental information around the vehicle is obtained, the environmental information is adopted to be matched with historical parking data stored in advance based on big data, and when the matching is successful, current parking scene information, such as the length and the width of the parking space which can be currently used for parking, namely a virtual parking space, whether obstacles exist in the parking space or not, can be determined according to the historical parking data which is successfully matched. It should be noted that, in real life, the parking environment of the vehicle is varied, such as may be at the roadside or in an underground parking lot, and the parking technology of each vehicle owner is different, that is, there may be some parking vehicles which exceed the boundary line defined by the parking space when parked, and there may be a situation where the ground does not define the parking space, so that the determined virtual parking space refers to a selected position in the area where the vehicle is currently available for parking, and is not necessarily located in the middle of the parking space.
103, generating a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area;
and generating a driving route, namely a parking path, for the user to park the vehicle into the parking space according to the real-time pose of the vehicle and the current parking scene information. And an updating area is also arranged on the parking path, and when the vehicle runs to the updating area, the surrounding environment information can be acquired again.
when the environment information of the vehicle is obtained, if the surrounding camera, the ultrasonic device and other sensing devices are adopted, the accuracy is not high, so that in the process that a user parks along the parking path, the parking path is further corrected, the parking path is optimized to better finish parking, and when the vehicle runs to an updated area, the parking path can be updated and corrected according to the newly obtained environment information.
And 105, controlling the vehicle to run according to the updated parking path.
After the parking path is updated and corrected, the vehicle is controlled to run according to the updated parking path, and then the parking can be finished.
In the embodiment of the invention, the current parking scene information is determined according to the environment information and the preset historical parking data by acquiring the real-time pose and the environment information of the vehicle, and a parking path is generated according to the real-time pose and the current parking scene information; the parking path is provided with an updating area, when the vehicle moves to the updating area, the parking path is updated based on the environment information, the vehicle is controlled to run according to the updated parking path, the parking path for parking can be continuously adjusted according to the surrounding environment information and the real-time pose of the vehicle in the parking process, and therefore the vehicle always selects a better parking path in the parking process, the parking effect required by a user is achieved, and the parking experience of the user is improved.
Referring to fig. 2, a flowchart illustrating steps of another embodiment of a parking control method according to the present invention is shown, which may specifically include the following steps:
since step 201 is similar to step 101, the detailed description may refer to step 101, and the detailed description is omitted here.
in an optional embodiment of the invention, the historical parking data comprises historical parking scene information;
the historical parking data can be stored based on big data, and the data of each parking time automatically uploaded by the vehicle, such as the length and the width of a parking area, the distribution position of obstacles and the length and the width of the obstacles, and besides, historical parking scene information, such as environment characteristic information determined according to the distribution position of the obstacles and the length and the width of the obstacles, environment characteristic information including parking lots, roadsides and the like, and parking space characteristic information determined according to the length and the width of the parking area, such as vertical parking spaces, parallel parking spaces and the like, is also included.
The step of determining the current parking scene information according to the environment information and preset historical parking data comprises the following steps:
extracting scene features matched with the environment information;
and determining the historical parking scene information matched with the scene characteristics as the current parking scene information.
According to data contained in the environment information, such as the length or width of an area available for parking, the distribution of obstacles, the length and width of the obstacles and the like, corresponding scene features are extracted to be matched with the stored historical parking data, so that the historical parking data which are successfully matched are obtained, and the historical parking scene information of the historical parking data, such as the environment feature information and parking space feature information, and the corresponding specific data are confirmed as the current parking scene information. For example, if the length of the parking area included in the acquired environment information is 6 meters and the obstacle is a road shoulder, the scene feature may be extracted as "environment feature: along the roadside; parking space characteristics: parallel parking spaces; the parking area is 6 meters in length, the scene characteristics are adopted to be matched with historical parking data, when matching is successful, historical parking scene information corresponding to the historical parking data is determined as current parking scene information, and for example, the successfully matched historical parking scene information comprises' environmental characteristics: along the roadside; parking space characteristics: parallel parking spaces; parking area: the length is 6 meters, and the width is 2.5 meters; and determining the historical parking scene information as the current parking scene information if the virtual parking space is long and wide. It should be noted that "length 6 m and width 2.5 m" in this example refers to the area currently available for parking, and the virtual space length refers to the position selected in the area where the vehicle is finally parked, and in general, the virtual space may be selected as the center position of the area.
after the current parking scene information is determined, a parking path provided with an updated area can be generated according to the current position and the head direction of the vehicle, namely the real-time pose.
in an optional embodiment of the present invention, the step of updating the parking path based on the environmental information includes:
updating the current parking scene information by adopting the environmental information obtained in the vehicle moving process;
updating the parking path by adopting the updated current parking scene information and the real-time pose;
and the current parking scene information also comprises entity information.
Although various parking scene information is stored in the historical parking data and can correspond to various parking scenes, in practice, the parking scenes may have some differences according to different places where users are located, so that the parking paths may be different. Thus, the vehicle can continuously collect the surrounding environment information during the process of moving along the parking path, and the environment information is more accurate compared with the environment information collected before the vehicle starts to park, for example, some environment information is not collected correctly because of the longer distance, and the collected environment information is more accurate along with the closer distance. The physical information is information of some physical obstacles in a parking area, for example, in a parking lot, a stop lever for limiting tires may be arranged on a parking space, the position of the stop lever is required to be used as a parking standard in the parking process, the stop lever does not exist in roadside parking, only a wall is required to be used as the parking standard, and the physical information may not be collected because the vehicle is far away from the parking area in the front of the parking lot, and can be accurately collected when the distance becomes shorter as the vehicle moves along a parking path. Therefore, when the vehicle arrives at the updating area, the collected environment information is adopted to update the current parking scene information, and the updated current parking scene information and the real-time pose of the vehicle are adopted to update the parking path and correct the parking path.
In an optional embodiment of the present invention, the virtual parking space is a vertical parking space; the virtual parking space comprises a virtual short edge; the step 204 further comprises:
and when the vehicle moves to a position which is less than or equal to a preset first length threshold value from the virtual short edge according to the parking path, determining that the vehicle moves to the updating area.
When the vehicle is parked according to the vertical parking space, the occupied area of a single parking space is the least, so that the parking space is suitable for places with large space, such as a parking lot. As shown in fig. 3, for convenience of description, the non-parking area is segmented by A, B, C, D, E, F, 301 is a virtual short edge of a virtual parking space, 303 and 305 are the same vehicle located at different positions during parking, and an arrow in the vehicle is a vehicle head direction. In the process that the vehicle moves along the parking path and gradually approaches the virtual short edge, when the distance between the vehicle and the virtual segment edge is smaller than a preset first length threshold value, namely the vehicle is at the position of the vehicle shown by 304, the vehicle reaches an updating area, and the collected environment information can be adopted to update the current parking scene information represented by the segments AB, BC, CD, DE and EF, so that the vehicle can continue to park in the virtual parking space after reversing to run in the direction shown by an arrow 306.
In an optional embodiment of the invention, the virtual parking spaces are parallel parking spaces; the virtual parking space comprises a virtual long edge; the step 204 further comprises:
and when the vehicle moves to a distance less than or equal to a third length threshold from the virtual long edge according to the parking path, determining that the vehicle moves to the updating area.
The parallel parking spaces are adopted when the positions of the motor vehicle lanes need to be reserved, the parallel parking spaces are suitable for parking vehicles on the roadside, as shown in fig. 4, for convenience of description, a non-parking area is segmented by G, H, I, J, K, L, 401 is a virtual long edge, 402 and 404 are the same vehicle located at different positions in the parking process, when the vehicle moves to a position which is less than or equal to a third length threshold value from the virtual long edge 401 along a parking path, namely the vehicle position shown by 403, the vehicle is determined to move to an updating area, at the moment, current parking scene information represented by GH, HI, IJ, JK and KL sections is updated by utilizing collected environment information, for example, after the IJ section is updated, the IJ section can be determined to be a wall or a road shoulder.
because the length and the width of the vehicles are different, it is necessary to determine whether the updated current parking scene information satisfies the parking available condition, for example, whether the virtual parking space satisfies the length and the width of the vehicle.
and if the current parking scene information meets the parking available condition, the vehicle can be considered to be parked in the selected virtual parking space, so that the vehicle is controlled to run according to the updated parking path to park.
If the current parking scene information does not meet the parking available condition, the length and the width of the virtual parking space can not be considered to meet the requirement for parking the vehicle, and therefore prompt information is generated to prompt a user that the vehicle cannot be parked.
In an optional embodiment of the present invention, when the virtual vehicle space is a vertical vehicle space, the virtual vehicle space further includes a virtual long edge connected to two ends of the virtual short edge, and width information between the virtual long edges, and after step 206, the method further includes:
determining error information of the real-time pose and the updated parking path;
determining a distance value between the vehicle and the virtual long edge by adopting the error information, the width information and preset vehicle width information;
and when the distance value is smaller than a preset second length threshold value, generating a warehouse-out path.
In practice, a vehicle deviates from a parking path in the process of traveling according to the parking path, as shown in fig. 3, the vehicle deviates in the process of traveling according to an arrow 307 and travels to a vehicle position shown by 305, so that an error between a real-time pose of the vehicle and the parking path can be determined, a distance value between a long side of a vehicle body of the vehicle and a virtual long edge 302 is determined by using the error, width information between the virtual long edges and the width of the vehicle, when the distance value is smaller than a preset length threshold value, it can be considered that the vehicle needs to exit from a parking space to adjust the position again, so that a delivery path is generated, and the vehicle exits from the parking space according to the delivery path, that is, the arrow 308 and then parks again.
In an optional embodiment of the present invention, when the virtual parking space is a parallel parking space, the virtual parking space further includes virtual short edges connected to two ends of the virtual long edge; said step 206 is followed by:
when the vehicle moves to a position point to be steered, updating the virtual short edge by adopting the environment information;
adjusting the updated parking path based on the updated virtual short edge.
As shown in fig. 4, when the vehicle travels to the end of the parking area, that is, the vehicle position shown at 404, the vehicle cannot move backward, that is, is at the position to be reversed, and the distance of the virtual short edge can be further determined by using the collected environment information, so that the parking path can be adjusted based on the updated virtual short edge.
To facilitate a better understanding of the present invention by those skilled in the art, FIG. 5 shows a schematic flow chart of steps of an embodiment of the present invention.
As shown in fig. 5, when a user wants to park a vehicle, a parking space available for parking is searched first, and then a parking space scene mode classifier based on big data collects surrounding environment information and matches the surrounding environment information with historical parking data, so as to generate a parking path, the vehicle travels according to the parking path, and when the vehicle reaches a parking path updating area, the parking path is updated by using the environment information collected in the traveling process. In actual life, parking positions are often complex and changeable, sometimes after the vehicle travels a certain distance according to a parking path, the situation that a parking mode needs to be changed is found according to collected environment information, for example, the vehicle is originally judged to be a roadside, the vehicle is judged to be a parking lot after being updated, the vehicle is originally judged to be a parallel parking space, the vehicle is judged to be a vertical parking space after being updated, and the like, and a new parking mode is matched from historical parking data according to the collected environment information; most of the time, the parking mode is correct, but according to the difference of parking environments, the distribution and the type of obstacles are changed, for example, it is originally impossible to confirm whether the edge of a parking area is a wall or a shoulder, and in the process of driving along the parking path, the distance can be determined, so that the mode parameters are adjusted, the parking path is updated, and the updated parking path is executed until the parking is completed.
In the embodiment of the invention, the real-time pose and the environment information of a vehicle are obtained, the current parking scene information is determined according to the environment information and the preset historical parking data, the parking path is generated according to the real-time pose and the current parking scene information, the parking path is provided with an updating area, when the vehicle moves to the updating area, the parking path is updated based on the environment information, whether the updated current parking scene information meets the preset parking available condition or not is judged, the updated current scene information comprises the updated virtual parking space, if yes, the vehicle is controlled to run according to the updated parking path, if not, the prompt information is generated, the parking path can be adjusted and changed according to the surrounding environment information in the parking process, so that the vehicle always selects a better parking path in the parking process, and whether the parking space can park the vehicle or not is judged before parking, invalid parking operation is avoided, and the parking experience of the user is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a block diagram of an embodiment of a parking control apparatus according to the present invention is shown, and may specifically include the following modules:
the acquiring module 501 is configured to acquire a real-time pose and environmental information of a vehicle;
a scene module 502, configured to determine current parking scene information according to the environment information and preset historical parking data;
a path module 503, configured to generate a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area;
an updating module 504, configured to update the parking path based on the environment information when the vehicle moves to the update area;
the control module 505 is configured to control the vehicle to travel according to the updated parking path;
and the current parking scene information comprises virtual parking spaces.
In an embodiment of the invention, the historical parking data includes historical parking scene information; the scene module 502 further includes the following sub-modules:
the extraction submodule is used for extracting scene characteristics matched with the environment information;
and the current parking scene information submodule is used for determining the historical parking scene information matched with the scene characteristics as the current parking scene information.
In an embodiment of the present invention, the update module 504 further includes the following sub-modules:
the current parking scene information updating submodule is used for updating the current parking scene information by adopting the environment information obtained in the vehicle moving process;
the parking path updating submodule is used for updating the parking path by adopting the updated current parking scene information and the real-time pose;
and the current parking scene information also comprises entity information.
In an embodiment of the present invention, the virtual parking space is a vertical parking space; the virtual parking space comprises a virtual short edge; the device further comprises:
and the first updating area module is used for determining that the vehicle moves to the updating area when the vehicle moves to a distance which is less than or equal to a preset first length threshold from the virtual short edge according to the parking path.
In an embodiment of the present invention, the virtual parking space further includes virtual long edges connected to two ends of the virtual short edge, and width information between the virtual long edges; the device further comprises:
the error information determining module is used for determining the error information of the real-time pose and the updated parking path;
the distance value determining module is used for determining a distance value between the vehicle and the virtual long edge by adopting the error information, the width information and preset vehicle width information;
and the ex-warehouse path generating module is used for generating an ex-warehouse path when the distance value is smaller than a preset second length threshold value.
In an embodiment of the present invention, the virtual parking spaces are parallel parking spaces; the virtual parking space comprises a virtual long edge; the device further comprises:
and the second updating area determining module is used for determining that the vehicle moves to the updating area when the vehicle moves to a distance which is less than or equal to a third length threshold from the virtual long edge according to the parking path.
In an embodiment of the present invention, the virtual parking space further includes virtual short edges connected to two ends of the virtual long edge; the device further comprises:
the virtual short edge updating module is used for updating the virtual short edge by adopting the environment information when the vehicle moves to a position point to be transposed;
and the adjusting module is used for adjusting the updated parking path based on the updated virtual short edge.
In an embodiment of the present invention, the apparatus further includes:
the judging module is used for judging whether the updated current parking scene information meets the preset parking available condition; the updated current scene information comprises an updated virtual parking space;
the execution module is used for controlling the vehicle to run according to the updated parking path if the updated current parking scene information meets the preset parking condition;
the prompt information generating module is used for generating prompt information if the updated current parking scene information does not meet the preset parking available condition;
the parking available conditions comprise that the updated virtual parking space meets preset specifications.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiment of the invention also discloses a vehicle, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, the steps of the parking control method are realized.
The embodiment of the invention also discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the parking control method are realized.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The parking control method, the parking control device, the vehicle and the storage medium provided by the invention are described in detail, and specific examples are applied to explain the principle and the implementation of the invention, and the description of the embodiments is only used to help understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (11)
1. A parking control method characterized by comprising:
acquiring real-time pose and environment information of a vehicle;
determining current parking scene information according to the environment information and preset historical parking data;
generating a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area;
updating the parking path based on the environmental information when the vehicle moves to the update area;
controlling the vehicle to run according to the updated parking path;
and the current parking scene information comprises virtual parking spaces.
2. The method of claim 1, wherein the historical parking data includes historical parking scenario information;
the step of determining the current parking scene information according to the environment information and preset historical parking data comprises the following steps:
extracting scene features matched with the environment information;
and determining the historical parking scene information matched with the scene characteristics as the current parking scene information.
3. The method of claim 1, wherein the step of updating the parking path based on the environmental information comprises:
updating the current parking scene information by adopting the environmental information obtained in the vehicle moving process;
updating the parking path by adopting the updated current parking scene information and the real-time pose;
and the current parking scene information also comprises entity information.
4. A method according to claim 1, 2 or 3, characterized in that the virtual vehicle space is a vertical space; the virtual parking space comprises a virtual short edge; the method further comprises the following steps:
and when the vehicle moves to a position which is less than or equal to a preset first length threshold value from the virtual short edge according to the parking path, determining that the vehicle moves to the updating area.
5. The method of claim 4, wherein the virtual parking space further comprises virtual long edges connected at both ends of the virtual short edges, and width information between the virtual long edges; the method further comprises the following steps:
determining error information of the real-time pose and the updated parking path;
determining a distance value between the vehicle and the virtual long edge by adopting the error information, the width information and preset vehicle width information;
and when the distance value is smaller than a preset second length threshold value, generating a warehouse-out path.
6. A method according to claim 1, 2 or 3, characterized in that the virtual vehicle space is a parallel space; the virtual parking space comprises a virtual long edge; the method further comprises the following steps:
and when the vehicle moves to a distance less than or equal to a third length threshold from the virtual long edge according to the parking path, determining that the vehicle moves to the updating area.
7. The method of claim 6, wherein the virtual vehicle space further comprises a virtual short edge connected to both ends of the virtual long edge; the method further comprises the following steps:
when the vehicle moves to a position point to be steered, updating the virtual short edge by adopting the environment information;
adjusting the updated parking path based on the updated virtual short edge.
8. The method of claim 1, further comprising:
judging whether the updated current parking scene information meets a preset parking available condition; the updated current scene information comprises an updated virtual parking space;
if so, controlling the vehicle to run according to the updated parking path;
if not, generating prompt information;
the parking available conditions comprise that the updated virtual parking space meets preset specifications.
9. A parking control apparatus, characterized by comprising:
the acquisition module is used for acquiring the real-time pose and the environmental information of the vehicle;
the scene module is used for determining current parking scene information according to the environment information and preset historical parking data;
the path module is used for generating a parking path according to the real-time pose and the current parking scene information; the parking path is provided with an updating area;
the updating module is used for updating the parking path based on the environment information when the vehicle moves to the updating area;
the control module is used for controlling the vehicle to run according to the updated parking path;
and the current parking scene information comprises virtual parking spaces.
10. A vehicle, characterized by comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the parking control method according to any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the parking control method according to any one of claims 1 to 8.
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| CN202010658439.9A CN111824130A (en) | 2020-07-09 | 2020-07-09 | Parking control method and device, vehicle and storage medium |
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| CN202010658439.9A CN111824130A (en) | 2020-07-09 | 2020-07-09 | Parking control method and device, vehicle and storage medium |
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Address after: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant after: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant before: Guangzhou Xiaopeng Internet of vehicles Technology Co.,Ltd. |
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Application publication date: 20201027 |