CN115042812A

CN115042812A - Automatic stop parking method, device, medium and electronic equipment

Info

Publication number: CN115042812A
Application number: CN202210724256.1A
Authority: CN
Inventors: 肖昕塽; 杨晓鹏; 巩兴
Original assignee: White Rhino Zhida Beijing Technology Co ltd
Current assignee: White Rhino Zhida Beijing Technology Co ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-09-13

Abstract

The present disclosure provides a station automatic parking method, including: acquiring the current position of the vehicle; judging whether the distance between the vehicle and a navigation terminal is smaller than a preset value according to the current position of the vehicle; if the road obstacle information is smaller than the preset value, acquiring road obstacle information near the navigation end point, and updating a road drivable area according to the road obstacle information; acquiring search parameters, and searching parking points according to the search parameters; judging whether the parking point is positioned in front of the navigation terminal; if the vehicle is located in the front, a first path is solved based on the current position of the vehicle and the position of the parking point, the first path is smoothed to generate a first flat sliding track, and the vehicle is controlled to travel to the parking point according to the first flat sliding track. The method provided by the disclosure can realize the side-by-side parking at the selected position on the public road.

Description

Automatic stop parking method, device, medium and electronic equipment

Technical Field

The disclosure relates to the technical field of automatic driving, in particular to a method, a device, a medium and electronic equipment for automatic stop of a station.

Background

In the field of automatic driving of automobiles, an automatic parking system is generally mounted on a middle-and-high-end automobile, a large number of sensors with high cost are used in hardware, the automatic parking system is used as an auxiliary driving function to help a novice park, and the use scene is often limited in a parking lot. In an automatic driving scene of the level L4, road conditions are complex, fixed parking spaces do not exist, and the existing automatic parking method is difficult to realize the side parking at any selected position on the road.

Disclosure of Invention

The invention aims to provide a method, a device, a medium and electronic equipment for automatic stop parking, and the specific scheme is as follows:

according to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a station automatic parking method, including:

acquiring the current position of the vehicle;

judging whether the distance between the vehicle and a navigation terminal is smaller than a preset value according to the current position of the vehicle;

if the road obstacle information is smaller than the preset value, acquiring road obstacle information near the navigation end point, and updating a road drivable area according to the road obstacle information;

acquiring search parameters, and searching parking points according to the search parameters;

judging whether the parking point is positioned in front of the navigation terminal; and

if the vehicle is located in the front, a first path is solved based on the current position of the vehicle and the position of the parking point, the first path is smoothed to generate a first flat sliding track, and the vehicle is controlled to travel to the parking point according to the first flat sliding track.

Optionally, the solving a first path based on the current position of the vehicle and the position of the parking spot includes:

solving the first path by a non-linear programming algorithm.

Optionally, before the step of determining whether the parking spot is located in front of the navigation end point, the method further includes:

judging whether a parking spot is searched before the head of the vehicle reaches the navigation terminal, and if so, judging whether the parking spot is positioned in front of the navigation terminal; if not, the parking is finished.

Optionally, after the step of controlling the vehicle to travel to the parking spot according to the first sliding trajectory, the method further includes:

judging whether the parking is successful or not;

if the vehicle is not parked successfully, judging whether an RS curve exists or not based on the current position of the vehicle, the position of the parking point and the obstacle information; and

and if the RS curve exists, controlling the vehicle to run to the stop point based on the RS curve.

Optionally, the determining whether the parking is successful includes: and judging whether the parking is successful or not by checking the parking pose of the vehicle.

Optionally, if the vehicle is not located in the front, determining whether an RS curve exists based on the current position of the vehicle, the position of the parking spot, and the obstacle information; and

Optionally, the controlling the vehicle to travel to the parking point based on the RS curve includes:

selecting an RS curve with the shortest length as a second path, and segmenting the second path according to whether backing exists or not to obtain a segmented second path; and

and generating a segmented track for each segment of the second segmented paths by using a Dubin curve, smoothing the segmented track to obtain a segmented smooth track, and controlling the vehicle to run to the stop point according to the segmented smooth track.

According to a specific embodiment of the present disclosure, in another aspect, the present disclosure provides an automatic stop parking apparatus, including:

an acquisition unit configured to acquire a current position of a vehicle;

the first judgment unit is used for judging whether the distance between the vehicle and a navigation terminal is smaller than a preset value according to the current position of the vehicle;

the updating unit is used for acquiring road obstacle information near the navigation end point if the road obstacle information is smaller than a preset value, and updating a road drivable area according to the road obstacle information;

the searching unit is used for acquiring searching parameters and searching parking points according to the searching parameters;

the second judgment unit is used for judging whether the parking point is positioned in front of the navigation terminal point; and

and the control unit is used for solving a first path based on the current position of the vehicle and the position of the parking point if the vehicle is positioned in front, smoothing the first path to generate a first flat sliding track, and controlling the vehicle to run to the parking point according to the first flat sliding track.

According to a specific embodiment of the present disclosure, in another aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the above-described method.

According to a specific embodiment of the present disclosure, in another aspect, the present disclosure provides an electronic device including:

one or more processors;

a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method described above.

The automatic stop stopping method, the device, the medium and the electronic equipment can solve the problem of stopping of the unmanned vehicle at the distribution stop on the public road, and realize the side-by-side stopping at any selected position (on the premise of meeting traffic rules) on the public road.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty. In the drawings:

fig. 1 schematically shows a structural diagram of an automatic driving system suitable for the station automatic parking method provided by the present embodiment;

fig. 2 schematically shows a flowchart of a station automatic parking method provided by the embodiment of the present disclosure;

fig. 3 schematically shows a flowchart of a station automatic parking method provided by the embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an automatic stop parking device provided by an embodiment of the present disclosure;

fig. 5 schematically shows an electronic device connection structure according to an embodiment of the disclosure.

Fig. 6 schematically shows a derivation diagram of a nonlinear programming algorithm according to an embodiment of the present disclosure.

The reference numerals are represented as:

11. high-precision maps; 12. a sensor; 13. a planner; 14. and a controller.

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present disclosure, rather than all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the scope of protection of the present disclosure.

The terminology used in the embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in the disclosed embodiments and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present disclosure, these descriptions should not be limited to these terms. These terms are only used to distinguish one description from another. For example, a first could also be termed a second, and, similarly, a second could also be termed a first, without departing from the scope of embodiments of the present disclosure.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.

Alternative embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

Example 1

The present embodiment provides a station automatic parking method, which may be applied to various types of vehicles equipped with an automatic driving system, for example, various unmanned distribution vehicles that may travel on public roads, which generally carry various distribution materials and need to park at a distribution station corresponding to each distribution material to deliver the distribution materials to a designated recipient.

Fig. 1 is a schematic structural diagram of an automatic driving system suitable for the station automatic parking method provided in this embodiment. As shown in fig. 1, the automatic driving system may include: a high-precision map 11, sensors 12, a planner 13, and a controller 14.

The high-precision map 11 is used for storing map information of a vehicle operation area, and the map information at least comprises: lane information, traffic light position, traffic notice board, etc. The lane information may further include: lane type, number of lanes, lane number, lane width, etc. The high accuracy map 11 may also be used to generate a navigation route, such as a navigation route for an unmanned delivery vehicle to a user's cell. The high accuracy map 11 may also assist the planner 13 in generating a planned path in real time.

The sensor 12 is used for sensing road conditions at the front and rear of the vehicle and generating obstacle information near the vehicle. The obstacle information may include: the type of obstacle, the projection of the obstacle boundary on the map, the predicted trajectory of the obstacle, etc. The sensors 12 may also be used to locate the position of the vehicle in the high accuracy map 11. The sensors 12 may also be used to communicate with the planner 13 to provide processed sensory data to update the drivable road regions.

The planner 13 is configured to receive the sensing data of the sensors 12 and make a path decision in the current travelable area. And the path decision can obtain the driving track of the vehicle after smoothing. The planner 13 may also be configured to communicate with the controller 14 to translate the obtained vehicle trajectory into control commands.

The controller 14 is adapted to communicate with the vehicle chassis to translate control commands into actual steering actions. The operation actions at least comprise: acceleration, braking, left turn steering column, right turn steering column, and the like.

Referring to fig. 2 and fig. 3 together, the present embodiment provides an automatic stop method, including the following steps:

s101, acquiring the current position of the vehicle.

In this step, the current position of the vehicle may be acquired by a position sensor provided on the vehicle. The position sensor can obtain the current position coordinates of the running vehicle, and then the position of the vehicle in the high-precision map is positioned. In some embodiments, the position sensor on the vehicle body automatically starts working when the vehicle processes the operation state, so that the current position of the vehicle in operation can be acquired in real time.

S102, judging whether the distance between the vehicle and the navigation terminal is smaller than a preset value or not according to the current position of the vehicle, if so, executing a step S103, otherwise, returning to the step S101.

In this step, the current position of the vehicle may be obtained by an in-vehicle position sensor, and the navigation end point may be a specific position preset on a map, for example, a delivery station corresponding to in-vehicle delivery of materials. In real-world applications, the delivery site may be a logistics warehouse, a commercial store, a user cell, or the like. In reality, the distribution sites may be located on public roads, such as commercial stores in close proximity to urban highways, or may be located in open spaces, such as residential buildings in enclosed cells with enclosing walls and gates.

The distance between the vehicle and the navigation terminal may be a straight-line distance between the vehicle and the navigation terminal. In some embodiments, the range of the preset distance value is set to be 10 meters to 100 meters, and it is understood that the preset distance value can be set according to actual situations, for example, in some areas with tight parking spaces, the range of the preset distance value can be set to be 100 meters to 1000 meters.

And S103, acquiring road obstacle information near the navigation end point, and updating a road drivable area according to the road obstacle information.

In this step, when the distance between the vehicle and the navigation end point is smaller than a preset value, the vehicle enters an edge parking scene, and the vehicle starts to update the road travelable area. During the running of the vehicle, various types of obstacles, such as a front vehicle, a barrier belt, a falling object, and the like, may affect the travelable area of the vehicle. After the vehicle enters the side parking scene, the information of the road barriers near the navigation end point needs to be acquired, and the vehicle is prevented from colliding with the barriers. The road obstacle information includes: the type of obstacle, the projection of the obstacle boundary on the map, the predicted trajectory of the obstacle, etc. In some embodiments, the road obstacle information may be obtained by an onboard sensor.

And S104, acquiring search parameters, and searching parking points according to the search parameters.

In this step, when the distance between the vehicle and the navigation terminal is smaller than a preset value, the vehicle enters an edge parking scene, and the vehicle starts to search for a nearby parking point.

The search parameter may be a parameter related to a parking spot, for example, the number of parking spots of the parking spot, a distance between the parking spot and a navigation destination, a distance between the parking spot and a running vehicle, whether the parking spot is charged, a stoppable time period, and the like. The above parameters may be preset, for example, the parking spot may be a free parking spot, the number of parking spaces in the parking spot is greater than 5, and the like. The above parameters may also be dynamically updated according to a certain rule, for example, when the distance between the parking point and the navigation end point is less than 10 meters in the first time period, and when the distance between the parking point and the navigation end point is less than 20 meters in the second time period.

In some embodiments, the search range for the parking spot may be dynamically adjusted according to the current position of the vehicle, i.e., the parking spot is searched within the dynamic adjustment range. For example, when the vehicle is traveling on an open road, a search parameter for a parking spot is set as a first parameter; when the vehicle is traveling in the open space, the search parameter for the parking spot is set to the second parameter. By dynamically adjusting the search parameters according to the current position of the vehicle, a more preferable parking spot can be found, and the automatic parking success rate under the actual road condition is improved.

In some embodiments, the search parameters for the parking spot may be dynamically adjusted according to the city/urban area in which the vehicle is located. For example, when the vehicle is located in guangzhou city, the search parameter of the parking spot is set as the third parameter; and when the vehicle is positioned in Shenzhen city, setting the search parameter of the parking spot as a fourth parameter. By dynamically adjusting the search parameters according to the city/urban area where the vehicle is located, different cities/urban areas can be quickly adapted, and the vehicle can be conveniently applied and popularized in various areas.

And S105, judging whether a parking spot is searched before the head of the vehicle reaches the navigation end point, if so, executing the step S106, and if not, finishing parking.

In this step, if the vehicle head has reached the navigation end point but no suitable parking point has been searched, there is a possibility that a parking point does not exist at all or a parking point exists but is not suitable for parking at this time. In this case, the vehicle cannot automatically stop at the station, and the automatic stop process needs to be immediately finished. In some embodiments, the vehicle ends the automatic parking process and also sends a parking exception prompt prompting the user for manual intervention. In some embodiments, this step may be omitted.

And S106, judging whether the parking spot is positioned in front of the navigation end point, and if so, executing the step S107.

In this step, if the parking point is located in front of the navigation end point, the vehicle only needs to travel forward according to the prompt in the parking process. If the parking spot is not located in front of the navigation end point, the vehicle may need to perform steering, reverse gear and other actions during parking.

If the stop point is not located in front of the navigation end point, in some embodiments, as shown in FIG. 2, automatic parking will be ended; in some other embodiments, as shown in fig. 3, step S108 is performed.

S107, solving a first path based on the current position of the vehicle and the position of the parking point, smoothing the first path to generate a first flat sliding track, and controlling the vehicle to run to the parking point according to the first flat sliding track.

In this step, the current position of the vehicle may be obtained from an on-board position sensor, and a first path from the current position of the vehicle to the parking spot may be solved from the current position of the vehicle and the position of the parking spot. The first path may be smoothed by a smoothing algorithm to generate a first smoothed trajectory.

In some embodiments, the first path may be obtained by a non-linear programming algorithm. The nonlinear Programming algorithm adds a nonlinear constraint on the basis of a Quadratic Programming (QP) algorithm. In the quadratic programming algorithm, the objective function has a square term, and the constraint conditions are linear. Because the quadratic programming algorithm only restricts the position of the center of the rear axle of the vehicle and does not restrict the positions of four corner points of the vehicle, the optimized track collision angle is possible to be caused. The nonlinear programming algorithm adopted by the embodiment can solve the problem of collision from the corner point in path planning. Specifically, collision avoidance of the vehicle corner point can be realized by adding a plurality of constraints for the vehicle corner point. Further, since half the vehicle width and the safe buffer distance have been subtracted when generating the path boundary, collision avoidance from the corner point can also be achieved by constraining only the position of the center point of the front bumper.

In some embodiments, the following constraints are added on the basis of the quadratic planned path:

lower boundary constraint of front corner point (total N) _f A plurality of):

front corner boundary constraints (total of Nf):

wherein,. DELTA.l _nonped Δ l is the desired distance of the vehicle from the non-pedestrian obstacle _ped The expected distance between the vehicle and the obstacle is preset parameters, NONCURB represents the lane boundary line of the non-CURB type, CURB represents the lane boundary line of the CURB type, and OBS _NONPED Barrier boundaries representing non-pedestrian type, OBS _ PED represents barrier boundaries of pedestrian type, epsilon _n For slack variables for NONCURB type boundaries, e _o For the relaxation variable for the barrier type boundary,

and

is the upper and lower boundaries of a series of ADC reference points o sampled at equal deltas intervals over a distance s, in reference line Frenet coordinates.

Concerning the calculation of l _f Or, how to combine l _f The function expressed as an optimization variable and a known parameter can have the following three methods:

method (1) assumes a reference line curvature of 0 (i.e., assuming a straight line), and θ < 1 >):

l _f ＝l+Ll′

wherein L is the front bumper-to-vehicle center distance. The equation assumes sin θ ═ l'.

Method (2) assumes a reference line curvature of 0 (i.e., assumes a straight line), and κ _r l＜＜1)：

The assumption of this formula is relative to method (1), with the assumption that θ < 1 removed.

Method (3) defines:

is provided with

The derivation of this formula can be seen in FIG. 6, which assumes that the reference line near the host vehicle can be viewed as a circular arc, the radius of curvature (considering that time κ is now present) _r ＜0)

a＝Lsinθ

b＝Lcosθ

All kinds of substitution above

Is ready to obtain

When k is _r From similar derivations > 0

And k is _r When 0, the system is simplified to version 2.

Wherein method (1) is still the QP optimization problem; methods (2) and (3) become a nonlinear programming (NLP) problem.

After controlling the vehicle to travel to the parking spot according to the first flat slide trajectory, in some embodiments, as shown in fig. 2, automatic parking will be ended; in other embodiments, as shown in fig. 3, step S107a is further performed.

S107a, it is determined whether the parking was successful, and if the parking was successful, the parking is terminated, and if the parking was unsuccessful, step S108 is executed.

In this step, whether parking is successful or not can be judged by checking the parking pose of the vehicle. The parking pose can be obtained through a sensor carried by the vehicle, and can also be obtained through a sensor arranged at a parking point.

And S108, judging whether an RS curve exists or not based on the current position of the vehicle, the position of the parking point and the obstacle information, if so, executing a step S109, and if not, executing a step S120 to send a parking abnormity prompt.

In this step, the current position of the vehicle, obstacle information may be obtained from an in-vehicle sensor. The RS curve (Reeds-Shepp Curves) comprises a series of paths of circles and straight lines, and the RS curve allows the vehicle to back up and is more suitable for the requirement of vehicle parking.

In some embodiments, the method of determining whether an RS curve exists is by hitting the vehicle starting point and stopping point with each RS curve in turn, and if a curve does not have a collision after considering an obstacle, the curve is considered to be usable.

S109, selecting the RS curve with the shortest length as a second path, and segmenting the second path according to whether reversing exists or not to obtain a segmented second path.

In this step, if there is a reverse path in the RS curve, each reverse path is separated into a single sub-path, and the second path can be decomposed into a plurality of sequentially connected sub-paths through the above division, for example, sub-path 1 (reverse path), sub-path 2 (non-reverse path), sub-path 3 (reverse path), and sub-path 4 (non-reverse path). All the sub-paths are connected in sequence to form the segmented second path.

And S110, generating a segmented track for each segment of the segmented second path by using a Dubin curve, smoothing the segmented track to obtain a segmented smooth track, and controlling the vehicle to run to the stop point according to the segmented smooth track.

In this step, the durene curve (Dubins Curves) is the shortest path connecting two-dimensional planes under the condition that curvature constraints and prescribed tangents (entering directions) of the start and end are satisfied. The durbin curve, like the RS curve, is also composed of a series of circles and straight lines. The durene curve is different from the RS curve in that the durene curve cannot change the driving direction halfway (namely, the vehicle head can only move forward all the time). And respectively generating a segmented track for each segment of the segmented second path through a Dubin curve. The segmented trajectory may be smoothed by a smoothing algorithm to generate a segmented smoothed trajectory.

After controlling the vehicle to travel to the stopping point according to the piecewise-smooth trajectory, in some embodiments, automatic stopping is ended; in other embodiments, as shown in fig. 3, step S110a is further performed.

And S110a, judging whether the parking is successful or not, if so, finishing the parking, and if not, executing the step S120 to send a parking abnormity prompt.

Example 2

As shown in fig. 4, according to a second aspect of the present disclosure, the present disclosure provides an automatic stop parking apparatus, which includes an obtaining unit 301, a first judging unit 302, an updating unit 303, a searching unit 304, a second judging unit 305, a control unit 306, and the like, specifically as follows:

an obtaining unit 301 for obtaining a current position of the vehicle.

The current position of the vehicle may be acquired by a position sensor provided on the vehicle. The position sensor can obtain the current position coordinates of the running vehicle, and then the position of the vehicle in the high-precision map is positioned. In some embodiments, the position sensor on the vehicle body automatically starts working when the vehicle processes the operation state, so that the current position of the vehicle in operation can be acquired in real time.

The first judging unit 302 is configured to judge whether a distance between the vehicle and a navigation end point is smaller than a preset value according to the current position of the vehicle.

The current position of the vehicle can be obtained according to a vehicle-mounted position sensor, and the navigation end point is a specific position preset on a map, for example, a delivery station corresponding to vehicle-mounted delivery materials can be used. In real-world applications, the delivery site may be a logistics warehouse, a commercial store, a user cell, or the like. In reality, the delivery sites may be located on public roads, such as commercial stores in close proximity to urban highways, or may be located in open spaces, such as residential buildings in enclosed cells with walls and gates.

And the updating unit 303 is configured to, if the value is smaller than the preset value, acquire road obstacle information near the navigation end point, and update the drivable road area according to the road obstacle information.

When the distance between the vehicle and the navigation terminal is smaller than a preset value, the vehicle enters an edge-approaching parking scene, and the vehicle starts to update the road travelable area. During the running of the vehicle, various types of obstacles, such as a front vehicle, a barrier belt, a falling object, and the like, may affect the travelable area of the vehicle. After the vehicle enters the side parking scene, the information of the road barriers near the navigation end point needs to be acquired, and the vehicle is prevented from colliding with the barriers. The road obstacle information includes: the type of obstacle, the projection of the obstacle boundary on the map, the predicted trajectory of the obstacle, etc. In some embodiments, the road obstacle information may be obtained by an onboard sensor.

The searching unit 304 is configured to obtain a search parameter, and search for a parking spot according to the search parameter.

When the distance between the vehicle and the navigation terminal is smaller than a preset value, the vehicle enters an approaching parking scene, and the vehicle starts to search for nearby parking points.

A second determination unit 305, configured to determine whether the parking spot is located in front of the navigation end point.

If the parking point is positioned in front of the navigation terminal, the vehicle only needs to normally drive forwards according to the prompt in the parking process. If the parking spot is not located in front of the navigation end point, the vehicle may need to perform steering, reverse gear and other actions during parking.

The control unit 306 is configured to, if the vehicle is located in front of the parking spot, solve a first path based on the current position of the vehicle and the position of the parking spot, smooth the first path to generate a first flat slide trajectory, and control the vehicle to travel to the parking spot according to the first flat slide trajectory.

The current position of the vehicle can be obtained according to the vehicle-mounted position sensor, and a first path from the current position of the vehicle to the parking spot can be solved according to the current position of the vehicle and the position of the parking spot. In some embodiments, the first path may be calculated by a non-linear quadratic programming algorithm. The first path may be smoothed by a smoothing algorithm to generate a first smoothed trajectory.

The automatic stop parking method, the automatic stop parking device, the automatic stop parking medium and the electronic equipment can solve the problem of parking of unmanned vehicles at distribution stops on public roads, and achieve side parking at any selected position (on the premise of meeting traffic rules) on the public roads.

Example 3

As shown in fig. 5, the present embodiment provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the method steps of the above embodiments.

Example 4

The disclosed embodiments provide a non-volatile computer storage medium having stored thereon computer-executable instructions that may perform the method steps as described in the embodiments above.

Example 5

Referring now to FIG. 5, shown is a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 5, the electronic device may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 405. An input/output (I/O) interface 405 is also connected to bus 405.

Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 405 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, or the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 405. The communication means 405 may allow the electronic device to communicate wirelessly or by wire with other devices to exchange data. While fig. 5 illustrates an electronic device having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 405, or installed from the storage device 408, or installed from the ROM 402. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 401.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

Claims

1. An automatic stop parking method is characterized by comprising the following steps:

acquiring the current position of a vehicle;

2. The unmanned stop point parking method as claimed in claim 1, wherein said solving a first path based on the current position of the vehicle and the position of the stop point comprises:

solving the first path by a non-linear programming algorithm.

3. The unmanned stop parking method according to claim 1, wherein the step of determining whether the stop is located in front of the navigation end point further comprises, before the step of determining whether the stop is located in front of the navigation end point:

4. The unmanned stop parking method according to claim 1, wherein after the step of controlling the vehicle to travel to the stop according to the first flat trajectory, further comprising:

judging whether the parking is successful or not;

5. The unmanned stop parking method according to claim 4, wherein the judging whether the parking is successful comprises:

and judging whether the parking is successful or not by checking the parking pose of the vehicle.

6. The unmanned stop parking method according to claim 1, further comprising:

if the vehicle is not positioned in the front, judging whether an RS curve exists or not based on the current position of the vehicle, the position of the parking point and the obstacle information; and

7. The unmanned stop point parking method according to any one of claims 4 to 6, wherein the controlling of the vehicle to travel to the parking point based on the RS curve includes:

8. An automatic stop parking device, comprising:

an acquisition unit configured to acquire a current position of a vehicle;

9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

10. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of any one of claims 1 to 7.