CN117002490B - Auxiliary parking method and device, computer equipment and storage medium - Google Patents
Auxiliary parking method and device, computer equipment and storage medium Download PDFInfo
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- CN117002490B CN117002490B CN202311070442.9A CN202311070442A CN117002490B CN 117002490 B CN117002490 B CN 117002490B CN 202311070442 A CN202311070442 A CN 202311070442A CN 117002490 B CN117002490 B CN 117002490B
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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
- 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
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention relates to the technical field of auxiliary parking and discloses an auxiliary parking method, a device, computer equipment and a storage medium, wherein the method and the device acquire target parking space information and a parking area where the target parking space is located; further, according to the target parking space information, the current position information and the search direction, a path and a search node are inspired, on the basis of determining the search direction, an accurate inspired path is obtained according to the current position information and the target parking space information, and on the basis of the inspired path, a corresponding search node can be accurately determined according to the search direction, so that parking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of auxiliary parking, in particular to an auxiliary parking method, an auxiliary parking device, computer equipment and a storage medium.
Background
With the popularity of automobiles, the problem of parking vehicles has been receiving increasing attention. Based on the above, the auxiliary parking technology can help the user to smoothly complete parking. However, in the auxiliary parking path planning in the prior art, the number of nodes to be judged in the searching process is excessive, and the exponential increase of the branches of the search tree can cause the searching time to be too long. Therefore, a new auxiliary parking method is needed to solve the above problems.
Disclosure of Invention
In view of the above, the present invention provides a parking assisting method, apparatus, computer device and storage medium, so as to solve the problem of too long searching time caused by too many searching nodes.
In a first aspect, the present invention provides a method for assisting in parking, the method comprising: acquiring target parking space information, a parking area where the target parking space is located and current position information of a vehicle;
dividing a parking area into a plurality of subareas according to target parking space information;
determining a search direction corresponding to the vehicle in the corresponding subarea according to the current position information and the target parking space information;
and determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
The method has the advantages that the optimal searching direction from the current position information to the target parking space information can be determined according to the corresponding relation between the current position information and each sub-area after the parking area is divided into a plurality of sub-areas by acquiring the target parking space information and the parking area where the target parking space is located and the current position information of the vehicle, so that the searching in unnecessary directions is reduced, and the parking efficiency is improved; further, according to the target parking space information, the current position information and the search direction, a path and a search node are inspired, on the basis of determining the search direction, an accurate inspired path is obtained according to the current position information and the target parking space information, and on the basis of the inspired path, a corresponding search node can be accurately determined according to the search direction, so that parking efficiency is improved.
In an alternative embodiment, determining the heuristic path and the search node according to the target parking space information, the current position information and the search direction specifically includes:
determining the starting point position of the heuristic path according to the current position information;
determining the end position of the inspired path according to the target parking space information;
determining a heuristic path according to the starting point position and the end point position;
and determining a search node according to the inspired path, the starting point position, the end point position, the target parking space information and the search direction.
The method has the advantages that the starting point position and the end point position of the searching path are determined according to the current position information and the target parking space information, the starting point position and the end point position are not necessarily the starting point position and the end point position in the actual parking process of the vehicle, and the searching efficiency is improved according to the corresponding starting point position and end point position in the actual searching process; on the basis, the searching route and the searching node are determined according to the starting point position and the ending point position, so that the parking efficiency is improved.
In an alternative embodiment, determining the search node according to the heuristic path, the starting point position, the end point position and the search direction specifically includes:
determining first point position information according to the inspired path, the starting point position and the end point position;
determining second point location information according to the target parking space information and the heuristic path;
and determining a search node according to the first point location information, the second point location information, the heuristic path and the search direction.
The method has the beneficial effects that the first point position information is determined according to the heuristic path, the starting point position and the end point position; determining second point location information according to the target parking space information and the heuristic path, and determining first point location information and second point location information so as to help to improve the accuracy of searching point locations; on the basis, the search node is determined according to the first point position information, the second point position information, the heuristic path and the search direction, so that the accuracy of the search node is further improved.
In an alternative embodiment, determining the heuristic path and the search node according to the target parking space information, the current position information and the search direction specifically includes:
determining the end position of the inspired path according to the current position information;
determining the starting point position of the inspired path according to the target parking space information;
determining a heuristic path according to the starting point position and the end point position;
and determining a search node according to the heuristic path, the starting point position, the end point position and the search direction.
The method has the beneficial effects that the searching efficiency is improved, and the parking efficiency is improved.
In an alternative embodiment, determining the search node according to the heuristic path, the starting point position, the end point position and the search direction specifically includes:
determining first point position information according to the inspired path, the starting point position and the end point position;
determining second point location information according to the target parking space information and the heuristic path;
and determining a search node according to the first point location information, the second point location information, the heuristic path and the search direction.
The method has the beneficial effects that the first point position information and the second point position information are determined so as to help to improve the accuracy of searching point positions, and further improve the accuracy of searching nodes.
In an alternative embodiment, the method further comprises:
determining error information of the search node according to the search node and the heuristic path;
and determining cost information according to the error information and preset weight information so as to determine new search nodes according to the cost information later.
The method has the advantages that error information of the search node is determined according to the search node and the heuristic path, cost information is determined according to the error information and preset weight information, correction of the search node by the subsequent search node according to the cost information is facilitated, and meanwhile a new search node can be determined according to the cost information.
In a second aspect, the present invention provides a parking assist apparatus, the apparatus comprising:
the information acquisition module is used for acquiring target parking space information, a parking area where the target parking space is located and current position information of the vehicle;
the dividing module is used for dividing the parking area into a plurality of subareas according to the target parking space information;
the direction determining module is used for determining the searching direction of the vehicle corresponding to the corresponding subarea according to the current position information and the target parking space information;
and the path node determining module is used for determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
In an alternative embodiment, the determining a path node module specifically includes:
the starting point determining unit is used for determining the starting point position of the heuristic path according to the current position information;
the terminal unit is used for determining the terminal position of the inspired path according to the target parking space information;
the path determining unit is used for determining a heuristic path according to the starting point position and the end point position;
the node determining unit is used for determining a searching node according to the inspired path, the starting point position, the end point position, the target parking space information and the searching direction.
In a third aspect, the present invention provides a computer device comprising: the parking assisting device comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the parking assisting method according to the first aspect or any implementation mode corresponding to the first aspect is executed.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the auxiliary parking method of the first aspect or any of the embodiments corresponding thereto.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of assisting in parking according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a method of assisted parking suitable for use with embodiments of the present invention;
FIG. 3 is a schematic illustration of a method of assisting in parking according to an embodiment of the invention;
FIG. 4 is a flow chart of yet another method of assisted parking according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a method of assisting in parking according to an embodiment of the invention;
FIG. 6 is a flow chart of another method of assisted parking according to an embodiment of the invention;
FIG. 7 is a schematic illustration of a method of assisting in parking according to an embodiment of the invention;
fig. 8 is a block diagram of a structure of a parking assist apparatus according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method of assisting parking, it being noted that the steps shown in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order other than that shown or described herein.
In this embodiment, a parking assisting method is provided, and fig. 1 is a flowchart of a parking assisting method according to an embodiment of the present invention. The auxiliary parking method in the embodiment of the invention can be applied to a vehicle-mounted computer system, and is particularly suitable for auxiliary parking under the condition that the road is not required to be changed in the vertical parking space. As shown in fig. 1, the flow of the auxiliary parking method includes the following steps:
step S101, obtaining target parking space information, parking areas where target parking spaces are located and current position information of vehicles.
In an actual parking process, after a vehicle acquires an instruction for parking, current position information of the vehicle, target parking space information for parking and a parking area where the target parking space is located are acquired. The command to park may be an operation that the driver triggers a park command, such as reversing, a voice assistant starting parking, etc. The current position information is pose information of a parking area where the vehicle is located, such as coordinate information of a center point of the vehicle, orientation information of the vehicle and the like; the target parking space information is coordinate information of a central point of the target parking space, long information of the target parking space and the like; the parking area is environment information and the like in a certain range of the area where the target parking space is located.
Step S102, dividing the parking area into a plurality of subareas according to the target parking space information.
In an exemplary embodiment, when the parking area is divided into a plurality of sub-areas, the parking area may be divided into four portions according to the center point of the target parking space, for the target parking space opening direction line, and the road center line of the estimated road width, each portion corresponding to one sub-area. As shown in fig. 2, which is a schematic diagram of dividing sub-areas, a vehicle acquires real-time map information of a corresponding parking area, and divides the map area into four parts (namely four quadrants of a coordinate system established by a parking space center line and a center line of a lane in front of the parking space) according to a direction line of a target parking space right opposite to the parking space and a road center line of a predicted road width (5.5 m) in the map information. The first, second, third and fourth regions are respectively.
Step S103, determining the searching direction of the vehicle corresponding to the corresponding subarea according to the current position information and the target parking space information.
For example, after dividing the subareas, according to the current position information of the vehicle and the target parking space information, the relation between the vehicle and the target parking space can be determined, and the corresponding searching direction of the vehicle is determined, wherein the searching direction is based on that the advancing direction or the retreating direction of the vehicle is closest to the target parking space.
Specifically, the azimuth of the corresponding parking space of the vehicle is defined according to the area where the vehicle is located when the parking task is received. If the vehicle falls in the areas 1 and 4 during task issuing, the operator_lr= -1. If the vehicle falls in the areas 2 and 3 when the task is issued, the operator_lr=1. If the vehicle falls in the 1, 2 area when issuing the task, the operator_ud=1. If the vehicle falls in the 3 and 4 areas when issuing the task, the operator_ud= -1.
The orientations of vehicles are classified into two categories according to the region in which the vehicles are located when parking tasks are issued. As shown in fig. 3, for the 1,3 areas, the dividing line is defined as a forward search in the direction of the parking space, and the other side is defined as a reverse search, with 45 ° clockwise rotation in the direction of the parking space opening as the direction. For the 2,4 areas, the dividing line which takes the anticlockwise rotation 45 degrees along the parking space opening direction as the direction is defined as forward search, and the direction which is towards the position where the parking space is deviated is defined as reverse search.
Step S104, determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
For example, after determining the search direction, a corresponding heuristic path and a corresponding search node on the heuristic path may be determined according to the target parking space information, the current location information, and the search direction. The relative position relation among the starting point position, the end point position and the target parking space information can be determined by inspiring the determination of the path, and the parking can be completed by determining how the vehicle runs. After determining the heuristic path, search nodes are set at intervals on the heuristic path.
According to the auxiliary parking method provided by the embodiment, the target parking space information and the parking area where the target parking space is located are obtained, and after the parking area is divided into a plurality of subareas, the optimal searching direction from the current position information to the target parking space information can be determined according to the corresponding relation between the current position information and each subarea, so that the searching in unnecessary directions is reduced, and the parking efficiency is improved; further, according to the target parking space information, the current position information and the search direction, a path and a search node are inspired, on the basis of determining the search direction, an accurate inspired path is obtained according to the current position information and the target parking space information, and on the basis of the inspired path, a corresponding search node can be accurately determined according to the search direction, so that parking efficiency is improved.
In this embodiment, a parking assisting method is provided, where the parking assisting method in the embodiment of the present invention includes a forward searching method and a reverse searching method, as shown in fig. 4, and fig. 4 is a flowchart of the forward searching in the parking assisting method according to the embodiment of the present invention, and the flowchart includes the following steps:
step S401, obtaining target parking space information, parking areas where target parking spaces are located and current position information of vehicles. Please refer to step S101 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S402, dividing the parking area into a plurality of subareas according to the target parking space information. Please refer to step S102 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S403, determining the searching direction of the vehicle corresponding to the corresponding subarea according to the current position information and the target parking space information. Please refer to step S103 in the embodiment shown in fig. 1 in detail, which is not described herein.
And step S404, determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
Specifically, the step S404 specifically includes:
step S4041, determining the starting point position of the heuristic path according to the current position information.
Step S4042, determining the end position of the inspired path according to the target parking space information.
Step S4043, determining the heuristic path according to the starting point position and the ending point position.
Step S4044, determining a search node according to the inspired path, the starting point position, the end point position, the target parking space information and the search direction.
In the forward search, the corresponding heuristic path is determined according to the relative position relationship between the starting point position and the end point position, wherein the heuristic path only needs to be parked in the target parking space, a plurality of heuristic paths can exist, and the determination of the final heuristic path can select the heuristic path with the minimum path length from the plurality of heuristic paths as the final heuristic path. After the final heuristic path is determined, the search nodes can be set at intervals of preset distances according to positions traversed by the search directions corresponding to the heuristic paths. Therefore, the minimum searching nodes can be obtained, and the parking efficiency is improved.
In some alternative embodiments, step S4044 includes:
step a1, determining first point position information according to a heuristic path, a starting point position and an end point position;
step a2, determining second point location information according to the target parking space information and the heuristic path;
and a step a3 of determining a search node according to the first point location information, the second point location information, the heuristic path and the search direction.
Illustratively, a position where the vehicle is located is taken as a start point_point (start point position) of the heuristic path, and a straight line L parallel to the lane is made across the position where the vehicle is located. And (5) making a vertical line to the straight line through the center point of the target parking space, wherein the foot is F. For the case of forward search, fig. 5 is taken as an example. And on the other side of the target parking space relative to the vehicle, making an arc from the end position to the distance capable of avoiding the obstacle, wherein the radius of the arc is larger than the minimum turning radius of the vehicle, and the arc intersects with a straight line L at M. The node search direction is from F to M along L from the position where the vehicle is located. And after M, the end position to be finally parked is along the arc. The line segment from the start_point to the M and the line spliced by the arc from the M to the target point end_point are taken as search paths.
In this embodiment, a parking assisting method is provided, as shown in fig. 6, which is a flowchart of forward searching in the parking assisting method according to an embodiment of the present invention, and as shown in fig. 6, the flowchart includes the following steps:
step S601, obtaining target parking space information, parking areas where target parking spaces are located and current position information of vehicles. Please refer to step S101 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S602, dividing the parking area into a plurality of subareas according to the target parking space information. Please refer to step S102 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S603, determining a searching direction of the vehicle corresponding to the corresponding subarea according to the current position information and the target parking space information. Please refer to step S103 in the embodiment shown in fig. 1 in detail, which is not described herein.
Step S604, determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
Specifically, the step S604 specifically includes:
step S6041, determining the end position of the inspired path according to the current position information;
step S6042, determining the starting point position of the heuristic path according to the target parking space information;
step S6043, determining a heuristic path according to the starting point position and the end point position;
step S6044, determining the search node according to the heuristic path, the starting point position, the target parking space information and the search direction.
For example, when searching in the reverse direction, the vehicle is searched from the inside of the target parking space to the position where the vehicle is located, and the vehicle is extended in the direction where the vehicle is located.
Corresponding to the current position information of the vehicle is used as a starting point position, a rear axle center point when the vehicle is parked in a target parking space is used as an end point position, and corresponding heuristic paths are determined according to the relative position relation between the starting point position and the end point position, wherein the heuristic paths only need to park the vehicle in the target parking space, a plurality of heuristic paths can exist, and a heuristic path with the minimum path length can be selected from the plurality of heuristic paths to be used as a final heuristic path in the determination of the final heuristic path. After the final heuristic path is determined, the search nodes can be set at intervals of preset distances according to positions traversed by the search directions corresponding to the heuristic paths. Therefore, the minimum searching nodes can be obtained, and the parking efficiency is improved.
In some alternative embodiments, step S6044 includes:
step b1, determining first point position information according to a heuristic path, a starting point position and an end point position;
step b2, determining second point location information according to the target parking space information and the heuristic path;
and b3, determining a search node according to the first point location information, the second point location information, the heuristic path and the search direction.
For example, in the case of reverse search, the position at which the vehicle is finally parked in the target parking space is the start point (start position) of the search. Taking the position of the vehicle as a planned target point end_point (end position), and making a straight line L parallel to the lane at the position of the passing vehicle. Taking fig. 7 as an example, on one side of the target parking space relative to the vehicle, a circular arc is formed from the distance from the target point to the avoidable obstacle, the radius of the circular arc is larger than the minimum turning radius of the vehicle, and the circular arc intersects with a straight line L at M. The searching direction reaches the steerable position of the non-touching obstacle from the target point start_point in the target parking space to the parking space opening along a straight line, and reaches M along an arc. And then from M to the vehicle location along L. The spliced lines are used as heuristic paths.
On the basis of the embodiment, when the error between the position of the search node and the heuristic path is too large during parking of the vehicle, the position of the next search node can be corrected according to the error, and meanwhile, the position of the current search node can be determined again. Specifically, according to the search node and the heuristic path, determining error information of the search node; determining cost information according to the error information and preset weight information; and when the cost information is larger than a preset threshold value, determining a new searching node again.
Illustratively, starting from a starting point position, searching for a neighboring node position in the map blank area, which meets the vehicle dynamics constraint, and when the degree of deviation (cost information) of the node from the position and direction of the heuristic path is greater than a preset threshold, redefining a new search node.
The cost information h_cost=the distance deviation between the current node and the heuristic path w1+the direction deviation between the current node and the heuristic path w2, where w1 and w2 are the corresponding deviation weights. The introduction of too many nodes which do not need to be judged can be avoided, and the parking efficiency is improved.
In this embodiment, an auxiliary parking device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and will not be described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The present embodiment provides an auxiliary parking device, as shown in fig. 8, including:
the information acquisition module 801 is configured to acquire target parking space information, a parking area where the target parking space is located, and current position information of a vehicle;
the dividing module 802 is configured to divide the parking area into a plurality of sub-areas according to the target parking space information;
the direction determining module 803 is configured to determine a search direction corresponding to the vehicle in the corresponding sub-region according to the current position information and the target parking space information;
the path node determining module 804 is configured to determine a heuristic path and a search node according to the target parking space information, the current location information, and the search direction.
In some alternative embodiments, determining the path node module specifically includes:
the starting point determining unit is used for determining the starting point position of the heuristic path according to the current position information;
the terminal unit is used for determining the terminal position of the inspired path according to the target parking space information;
the path determining unit is used for determining a heuristic path according to the starting point position and the end point position;
the node determining unit is used for determining a searching node according to the inspired path, the starting point position, the end point position, the target parking space information and the searching direction.
In some alternative embodiments, determining the node unit specifically includes:
the first point position determining subunit is used for determining first point position information according to the heuristic path, the starting point position and the end point position;
the second point position determining subunit is used for determining second point position information according to the target parking space information and the heuristic path;
the node determining subunit is configured to determine a search node according to the first point location information, the second point location information, the heuristic path and the search direction.
In some alternative embodiments, determining the path node module specifically includes:
the terminal position determining unit is used for determining the terminal position of the inspired path according to the current position information;
the starting point position determining unit is used for determining the starting point position of the inspired path according to the target parking space information;
the heuristic path determining unit is used for determining a heuristic path according to the starting point position and the end point position;
and the searching node determining unit is used for determining searching nodes according to the heuristic paths, the starting point positions, the target parking space information and the searching direction.
In some optional embodiments, determining the search node unit specifically includes:
the first determining subunit is used for determining first point position information according to the heuristic path, the starting point position and the end point position;
the second determining subunit is used for determining second point location information according to the target parking space information and the heuristic path;
and the third determining subunit is used for determining the searching node according to the first point location information, the second point location information, the heuristic path and the searching direction.
In some alternative embodiments, the apparatus further comprises:
the error determining module is used for determining error information of the search node according to the search node and the heuristic path;
the cost determining module is used for determining cost information according to the error information and preset weight information;
and the redetermining module is used for redetermining the new search node when the cost information is larger than the preset threshold value.
Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
The park aid device in this embodiment is presented in the form of a functional unit, herein referred to as an ASIC (Application Specific Integrated Circuit ) circuit, processor and memory executing one or more software or firmware programs, and/or other devices that provide the functionality described above.
The embodiment of the invention also provides computer equipment, which is provided with the auxiliary parking device shown in the figure 8.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 9, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 9.
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform a method for implementing the embodiments described above.
The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.
The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. A method of assisting in parking, the method comprising:
acquiring target parking space information, a parking area where the target parking space is located and current position information of a vehicle;
dividing the parking area into a plurality of subareas according to the target parking space information;
determining a search direction of the vehicle corresponding to the corresponding subarea according to the current position information and the target parking space information;
and determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
2. The method according to claim 1, wherein determining the heuristic path and the search node according to the target parking space information, the current location information, and the search direction comprises:
determining the starting point position of the heuristic path according to the current position information;
determining the end position of the inspired path according to the target parking space information;
determining the heuristic path according to the starting point position and the ending point position;
and determining the search node according to the heuristic path, the starting point position, the ending point position, the target parking space information and the search direction.
3. The method according to claim 2, wherein the determining the search node according to the heuristic path, the starting point position, the ending point position, the target parking space information, and the search direction specifically comprises:
determining first point position information according to the heuristic path, the starting point position and the end point position;
determining second point location information according to the target parking space information and the heuristic path;
and determining the search node according to the first point location information, the second point location information, the heuristic path and the search direction.
4. The method according to claim 1, wherein determining the heuristic path and the search node according to the target parking space information, the current location information, and the search direction comprises:
determining the end position of the heuristic path according to the current position information;
determining the starting point position of the heuristic path according to the target parking space information;
determining the heuristic path according to the starting point position and the ending point position;
and determining the search node according to the heuristic path, the starting point position, the ending point position and the search direction.
5. The method according to claim 4, wherein said determining the search node based on the heuristic path, the starting point position, the ending point position and a search direction, comprises:
determining first point position information according to the heuristic path, the starting point position and the end point position;
determining second point location information according to the end point position and the heuristic path;
and determining the search node according to the first point location information, the second point location information, the heuristic path and the search direction.
6. The method according to any one of claims 1-5, further comprising:
determining error information of the search node according to the search node and the heuristic path;
determining cost information according to the error information and preset weight information;
and when the cost information is larger than a preset threshold value, determining a new search node again.
7. A parking assist apparatus, the apparatus comprising:
the information acquisition module is used for acquiring target parking space information, a parking area where the target parking space is located and current position information of the vehicle;
the dividing module is used for dividing the parking area into a plurality of subareas according to the target parking space information;
the direction determining module is used for determining the searching direction of the vehicle corresponding to the corresponding subarea according to the current position information and the target parking space information;
and the path node determining module is used for determining a heuristic path and a search node according to the target parking space information, the current position information and the search direction.
8. The apparatus of claim 7, wherein the determining path node module specifically comprises:
the starting point determining unit is used for determining the starting point position of the heuristic path according to the current position information;
the terminal unit is used for determining the terminal position of the inspired path according to the target parking space information;
a path determining unit, configured to determine the heuristic path according to the starting point position and the ending point position;
and the node determining unit is used for determining the searching node according to the heuristic path, the starting point position, the ending point position, the target parking space information and the searching direction.
9. A computer device, comprising:
a memory and a processor in communication with each other, the memory having stored therein computer instructions that, upon execution, cause the processor to perform the park assist method of any of claims 1-6.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the assisted parking method according to any one of claims 1 to 6.
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