CN112744213A - Automatic parking method and device - Google Patents
Automatic parking method and device Download PDFInfo
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- CN112744213A CN112744213A CN202110020625.4A CN202110020625A CN112744213A CN 112744213 A CN112744213 A CN 112744213A CN 202110020625 A CN202110020625 A CN 202110020625A CN 112744213 A CN112744213 A CN 112744213A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004590 computer program Methods 0.000 claims description 17
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- 238000000926 separation method Methods 0.000 description 4
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
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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 embodiment of the invention provides an automatic parking method and device, wherein the method comprises the following steps: the method comprises the steps of determining a vehicle reachable space in an entrance area of a parking space by detecting whether the parking space exists in an area in front of a vehicle or not, and determining a parking path for forward parking according to the parking space and the vehicle reachable space, wherein the forward parking is a parking mode that the head of the vehicle is parked in the parking space first, and the vehicle is controlled to perform forward parking according to the parking path. According to the embodiment of the invention, the forward parking of the vehicle is controlled, and the parking is performed without driving the vehicle through detecting the parking space which can be parked in front of the vehicle, so that the condition of parking interruption caused by driving the vehicle through the parking space is avoided, and the parking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automatic parking method and device.
Background
At present, in the process of automatic parking, an ultrasonic radar or a camera is generally adopted to collect parking space information so as to determine a parking space which can be used for parking, and when the parking space information is collected, the collection of the parking space information is completed only when a vehicle runs through the parking space, so that the automatic parking is started.
However, when the parking space available for parking is a forward inclined parking space, because the included angle between the forward inclined parking space and the road is too small, when a vehicle travels through the parking space, the vehicle interferes with the vehicle parked in the adjacent parking space to interrupt parking, a large amount of kneading storehouses are required to park the vehicle in the parking space available for parking, and the parking efficiency is low.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for automatic parking that overcomes or at least partially solves the above problems, comprising:
a method of automatic parking, the method comprising:
detecting whether a parking space exists in an area in front of a vehicle;
determining a vehicle reachable space within an entrance area of a parking space upon detecting the presence of the parking space in an area in front of the vehicle;
determining a parking path for forward parking according to the parking space and the vehicle reachable space; the forward parking is a parking mode that the head of the vehicle is firstly parked in the parking space;
and controlling the vehicle to park forwards according to the parking path.
Optionally, the detecting whether there is a parking space in an area in front of the vehicle includes:
acquiring environmental information in an area in front of a vehicle;
determining candidate parking spaces in an area in front of the vehicle according to the environment information;
determining a parking space in the candidate parking spaces;
according to the parking space, it is determined whether there are parking spaces in the area in front of the vehicle.
Optionally, the determining a vehicle reachable space within the entrance area of the parking space comprises:
determining obstacle information located in an entrance area of the parking space according to the environment information;
and acquiring the current road information of the vehicle, and determining the reachable space of the vehicle in the entrance area of the parking space according to the road information and the obstacle information.
Optionally, before determining a parking path for forward parking according to the parking space and the vehicle reachable space, the method further includes:
judging whether the parking space meets the parking condition of vertical parking;
and when the parking available space does not meet the parking condition of vertical parking, determining a parking path for forward parking according to the parking available space and the vehicle reachable space.
Optionally, the determining whether the parking space meets the parking condition for vertical parking includes:
acquiring a travelable space in a road in front of the vehicle;
generating a virtual path for vertical parking according to the travelable space;
determining the relative position relationship between the virtual path and the parking space;
and judging whether the parking space meets the parking condition of vertical parking or not according to the relative position relation.
Optionally, the determining whether the parking space meets the parking condition for vertical parking includes:
determining the angle information of the parking space;
determining parking place type information of the parking place according to the angle information;
and judging whether the parking space capable of parking meets the parking condition of vertical parking or not according to the parking space type information.
Optionally, the determining a parking path for forward parking according to the parking space and the vehicle reachable space includes:
determining a target parking position of the parking space;
and determining the parking path for forward parking according to the target parking position and the vehicle reachable space.
An apparatus for automatic parking, the apparatus comprising:
the parking space detection module is used for detecting whether a parking space exists in an area in front of the vehicle;
the parking space determination module is used for determining a parking space in an entrance area of a parking space when the parking space in the area in front of the vehicle is detected;
the parking path determining module is used for determining a parking path for forward parking according to the parking space and the vehicle reachable space; the forward parking is a parking mode that the head of the vehicle is firstly parked in the parking space;
and the parking module is used for controlling the vehicle to park forwards according to the parking path.
Optionally, the parking space detection module includes:
an environmental information acquisition sub-module for acquiring environmental information in an area in front of the vehicle;
the candidate parking space determining submodule is used for determining candidate parking spaces in an area in front of the vehicle according to the environment information;
the parking space determining submodule is used for determining a parking space in the candidate parking spaces;
and the parking space determining submodule is used for determining whether parking spaces exist in the area in front of the vehicle or not according to the parking space.
Optionally, the apparatus further comprises:
the parking condition judging module is used for judging whether the parking space capable of parking meets the parking condition of vertical parking;
and the execution module is used for executing the determination of the parking path for forward parking according to the parking space and the vehicle reachable space when the parking space is judged not to meet the parking condition of vertical parking.
A vehicle comprising a processor, a memory and a computer program stored on and executable on said memory, said computer program, when executed by said processor, implementing a method for automatic parking as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for automatic parking as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, whether a parking space exists in an area in front of a vehicle is detected, when the parking space exists in the area in front of the vehicle is detected, a vehicle accessible space in an entrance area of the parking space is determined, and a parking path for forward parking is determined according to the parking space and the vehicle accessible space, wherein the forward parking is a parking mode that the head of the vehicle is parked into the parking space first, the vehicle is controlled to carry out forward parking according to the parking path, so that the vehicle is controlled to carry out forward parking, the parking is carried out without driving the parking space through detecting the parking space in front of the vehicle, the condition that the parking is interrupted due to the fact that the vehicle is parked after driving the parking space is avoided, and the parking efficiency is improved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating steps of a method for automatic parking according to an embodiment of the present invention;
fig. 2 is a schematic view of an automatic parking scenario according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps in an alternative method for automatic parking according to one embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps in a method for providing automatic parking according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for automatic parking according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an automatic parking apparatus according to an embodiment of 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. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following steps:
the parking available space may be a space available for parking.
During parking, parking spaces in an area in front of a vehicle can be detected through a sensing device in the vehicle, position information of the vehicle in the area in front of the vehicle is detected, and whether the vehicle stops in the parking spaces in the area in front of the vehicle can be determined according to the position information of the vehicle in the area in front of the vehicle, so that whether parking available parking spaces exist in the area in front of the vehicle is detected.
In practical applications, when it is determined that a vehicle stops in a certain parking space in an area in front of the vehicle, it may be determined that the parking space is not available for parking, that is, not a parking space, and when it is determined that no vehicle stops in the certain parking space in the area in front of the vehicle, it may be determined that the parking space is available for parking, that is, the parking space is available.
the accessible space of the vehicle can be a space which can accommodate the vehicle in an entrance area of the parking space.
Upon detecting the presence of a parking space in the region in front of the vehicle, an entry region for the parking space can be determined and a vehicle accessible space in the entry region for the parking space can be determined.
As shown in fig. 2, the solid line box ABCD may be a parking space, the solid line box 2 may be an entrance area of the parking space, and the solid line box 1 may represent a vehicle requiring automatic parking.
In practical application, the obstacle in the entrance area of the parking space can be determined, the height information and the position information of the obstacle can be determined, the chassis height information of the vehicle can be determined, the height information of the obstacle information and the chassis height information of the vehicle can be compared to obtain a comparison result, and the reachable space of the vehicle in the entrance area of the parking space can be determined according to the comparison result and the position information of the obstacle.
103, determining a parking path for forward parking according to the parking space and the vehicle reachable space;
the forward parking mode can be a parking mode that the head of the vehicle is parked in a parking space first.
After the parking space and the vehicle reachable space are determined, a parking path for forward parking can be determined according to the position information of the parking space and the position information of the vehicle reachable space.
In an embodiment of the present invention, step 103 may include the following sub-steps:
substep 11, determining a target parking position of the parking space;
the target parking position may be a position available for parking the vehicle in the parking available space.
After the parking space and the vehicle reachable space are determined, parking space line information corresponding to the parking space can be detected, and then a target parking position in the parking space can be determined according to the parking space line information.
In practical application, the parking space line information corresponding to the parking space may include position information of four angular points in the parking space, and the target parking position may be generated according to the position information of the angular points.
And a substep 12 of determining the parking path for forward parking according to the target parking position and the vehicle reachable space.
After the target parking position is determined, a parking path for forward parking can be determined according to the target parking position and the position information of the vehicle reachable space.
And 104, controlling the vehicle to park forward according to the parking path.
After the parking path is determined, the vehicle may be controlled to park forward according to the parking path.
In the embodiment of the invention, whether a parking space exists in an area in front of a vehicle is detected, when the parking space exists in the area in front of the vehicle is detected, a vehicle accessible space in an entrance area of the parking space is determined, and a parking path for forward parking is determined according to the parking space and the vehicle accessible space, wherein the forward parking is a parking mode that the head of the vehicle is parked into the parking space first, the vehicle is controlled to carry out forward parking according to the parking path, so that the vehicle is controlled to carry out forward parking, the parking is carried out without driving the parking space through detecting the parking space in front of the vehicle, the condition that the parking is interrupted due to the fact that the vehicle is parked after driving the parking space is avoided, and the parking efficiency is improved.
Referring to fig. 3, a flowchart illustrating steps of another method for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following steps:
the environment information may include lane line information, parking space line information, and obstacle information, and the obstacle information may include parking space obstacle information located in a parking space, and road obstacle information located in a road.
During parking, environmental information of an area in front of the vehicle may be collected by a sensing device in the vehicle.
For example, a laser radar preset in the vehicle may be employed to detect an object such as a lane line, a parking space line, etc. in an area in front of the vehicle, and environmental information in the area in front of the vehicle may be determined according to the detected object
the candidate parking space may be a parking space in an area in front of the vehicle.
After the environmental information is acquired, the candidate parking spaces in the area in front of the vehicle can be determined according to the parking space line information in the environmental information.
In practical application, a plurality of parking space lines in the area in front of the vehicle can be determined according to the parking space line information in the environment information, and then the area surrounded by the parking space lines can be determined, namely, the parking space candidates in the area in front of the vehicle can be determined.
the parking available space can be a space available for parking vehicles in the candidate parking spaces.
After the candidate parking space is determined, the obstacle located in the candidate parking space can be determined according to the obstacle information in the environment information, the height information and the position information corresponding to the obstacle in the obstacle information are determined, the chassis height information of the vehicle can be determined, the height information of the obstacle is compared with the chassis height information of the vehicle to obtain a comparison result, and the space available for parking the vehicle in the candidate parking space can be determined according to the comparison result and the position information of the obstacle.
As shown in fig. 2, the solid line box 3 may be a parking available space.
In practical applications, the comparison result may include that the value of the height information of the obstacle is greater than or equal to the value of the chassis height information of the vehicle, and the value of the height information of the obstacle is smaller than the value of the chassis height information of the vehicle, when the comparison result is that the value of the height information of the obstacle is greater than or equal to the value of the chassis height information of the vehicle, the obstacle corresponding to the comparison result may be determined to be an obstacle that the vehicle cannot cross, and further, the space that the vehicle cannot be used in the parking candidate space may be determined according to the position information corresponding to the obstacle that the vehicle cannot cross, and when the comparison result is that the value of the height information of the obstacle is smaller than the value of the chassis height information of the vehicle, the obstacle corresponding to the comparison result may be determined to be an obstacle that the vehicle can cross, the position information of the wheels in the vehicle may be determined, and the position information of the wheels in the vehicle, the method comprises the steps of determining an area capable of crossing an obstacle in a vehicle, further determining a space incapable of crossing in a candidate parking space according to position information corresponding to the obstacle capable of crossing by the vehicle and the area capable of crossing the obstacle in the vehicle, determining a total space of the candidate parking space, and determining a parking space capable of being parked in the candidate parking space according to the total space of the candidate parking space, the space incapable of being used for parking the vehicle in the candidate parking space and the space incapable of crossing in the candidate parking space.
after the parking space is determined, the contour and the area of the parking space can be calculated, and then whether a parking space exists in the area in front of the vehicle can be determined according to the contour information and the area of the parking space.
In practical application, the outline of the vehicle can be determined, and then whether the outline of the parking available space can surround the outline of the vehicle can be judged according to the outline of the vehicle and the outline of the parking available space, and when the outline of the parking available space cannot surround the outline of the vehicle, the parking available space does not exist in the area in front of the vehicle.
When the outline of the parking space is judged to be capable of surrounding the outline of the vehicle, the area of the parking space candidate can be determined, the ratio of the area of the parking space candidate to the area of the parking space candidate can be further determined, when the ratio of the area of the parking space candidate to the area of the parking space candidate is smaller than a preset area threshold value, it can be determined that the parking space available in the area in front of the vehicle does not exist, and when the ratio of the area of the parking space available to the area of the parking space candidate is larger than or equal to the preset area threshold value, it can be determined that the parking space available in the area in front of the vehicle exists.
in an embodiment of the present invention, step 305 may include the following sub-steps:
substep 21, determining obstacle information in an entrance area of the parking space according to the environment information;
when it is detected that there is a parking space in the area in front of the vehicle, an entrance area of the parking space may be determined, and then obstacle information for the entrance area of the parking space in the environmental information may be determined.
And a substep 22 of obtaining the current road information of the vehicle, and determining a reachable space of the vehicle in the entrance area of the parking space according to the road information and the obstacle information.
The road information may include road boundary information, and the road boundary information may be road edge information and wall information of a road where the vehicle is located.
After the obstacle information in the entrance area of the parking space is determined, the current road information of the vehicle can be acquired through sensing equipment in the vehicle, and the position information of the road boundary information in the road information is determined.
After the current road information of the vehicle is obtained, the obstacle in the entrance area of the parking space can be determined according to the obstacle information of the entrance area of the parking space, the height information and the position information of the obstacle are determined, the chassis height information of the vehicle can be determined, and the height information of the obstacle information is compared with the chassis height information of the vehicle to obtain a comparison result.
After the comparison result is obtained, the reachable space of the vehicle in the entrance area of the parking space can be determined according to the comparison result, the position information of the obstacle and the current road information of the vehicle.
In practical application, a road edge and a wall of a road where a vehicle is located are generally objects that a vehicle cannot span, and then a space that a vehicle cannot reach in an entrance area of a parking space can be determined according to position information corresponding to the objects that the vehicle cannot span in the entrance area of the parking space, a total space in the entrance area of the parking space can be determined, and a space that the vehicle cannot reach in the entrance area and a space that the vehicle cannot span in the entrance area determined based on obstacle information in the entrance area of the parking space can be determined, and a parking space in the entrance area of the parking space can be determined according to the total space in the entrance area, the space that the vehicle cannot reach in the entrance area and the space that the vehicle cannot span in the entrance area.
and 307, controlling the vehicle to park forward according to the parking path.
In the embodiment of the invention, by acquiring environmental information in an area in front of a vehicle, determining a parking candidate in the area in front of the vehicle according to the environmental information, determining a parking space in the parking candidate, determining whether a parking available space exists in the area in front of the vehicle according to the parking available space, determining a vehicle accessible space in an entrance area of the parking available space when the parking available space exists in the area in front of the vehicle, determining a parking path for forward parking according to the parking available space and the vehicle accessible space, and controlling the vehicle to forward park according to the parking path, forward parking of the vehicle is controlled, and by determining the parking available space in the parking candidate, accuracy of determining the parking available space is improved, and by detecting the parking available space in front of the vehicle, the parking is not required to be carried out after the driver drives the parking space, the condition that the parking is interrupted due to the fact that the driver drives the parking space and then carries out the parking is avoided, and the parking efficiency is improved.
Referring to fig. 4, a flowchart illustrating steps of another method for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following steps:
after the accessible space of the vehicle in the entrance area of the parking space is determined, the position information and the direction information of the parking space can be determined, and then whether the parking space meets the parking condition of vertical parking or not can be judged according to the position information and the direction information of the parking space.
In an embodiment of the present invention, step 403 may include the following sub-steps:
substep 31 of acquiring a travelable space located in a road ahead of the vehicle;
the travelable space may be a space in a road ahead of the vehicle that allows the vehicle to travel.
After the accessible space of the vehicle in the entrance area of the parking space is determined, the obstacle information in the road in front of the vehicle can be determined, the obstacle in the road in front of the vehicle can be determined according to the obstacle information, the height information and the position information corresponding to the obstacle in the obstacle information can be determined, the chassis height information of the vehicle can be determined, and the height information of the obstacle and the chassis height information of the vehicle are compared to obtain a comparison result.
After the comparison result is obtained, the other vehicle located in the road ahead of the vehicle may be specified, the speed of the other vehicle located in the road ahead of the vehicle may be determined, and when it is determined that the speed of the other vehicle located in the road ahead of the vehicle is 0, the position information of the other vehicle located in the road ahead of the vehicle may be specified, and further, the position information of the other vehicle located in the road ahead of the vehicle may be used as the boundary of the travelable space, and further, the space in the road ahead of the vehicle in which the vehicle is permitted to travel may be specified based on the comparison result, the position information of the obstacle, and the boundary of the travelable space.
As shown in fig. 2, the dashed box 4 may be a travelable space.
A substep 32 of generating a virtual path for vertical parking according to the travelable space;
the vertical parking may be a parking mode in which the tail of the vehicle is first parked in a parking space.
After the available driving space is obtained, the position information of any point in the available driving space can be determined, the position information of the starting point of the vehicle in the vertical parking mode is taken as the position information of the starting point of the vehicle in the available driving space, and then a virtual path for vertical parking can be generated according to the position information of the starting point and the position information of the available parking space.
Substep 33, determining the relative position relationship between the virtual path and the parking space;
the relative position relationship between the virtual path and the parking space can be the relative position relationship between the virtual path and a side parking space frame in the parking space, the relative position relationship between the virtual path and the parking space can comprise an away position relationship, an intersecting position relationship and a tangent position relationship, and the side parking space frames can be parking space frames positioned on two sides of a vehicle when the vehicle stops at the parking space.
After the virtual path is obtained, the position information of the side parking space frame in the parking space can be determined, and then the relative position relation between the virtual path and the parking space can be determined according to the position information of the side parking space frame and the virtual path.
And a substep 34 of judging whether the parking space meets the parking condition of vertical parking according to the relative position relation.
After the relative position relationship between the virtual path and the parking space is obtained, whether the relative position relationship between the virtual path and the parking space is the separation position relationship or not can be determined, when the relative position relationship between the virtual path and the parking space is the separation position relationship, the parking space meeting the parking condition of vertical parking is judged, and when the relative position relationship between the virtual path and the parking space is not the separation position relationship, the parking condition of vertical parking is judged not to be met by the parking space.
In practical application, when the relative position relationship between the virtual path and the parking space is the separated position relationship, the virtual path and the parking space can be determined not to interfere, and further, when the vehicle is parked vertically according to the virtual path, the vehicle cannot interfere with the parking space, so that the vehicle is prevented from colliding with the vehicle or the obstacle in the adjacent parking space, and the safety of automatic parking is improved.
When the relative position relationship between the virtual path and the parking space is not the separated position relationship, the virtual path can be determined to interfere with the parking space, and then the vehicle can interfere with the parking space when the vehicle is parked vertically according to the virtual path, so that the risk of collision with the vehicle or the obstacle in the adjacent parking space exists.
In an embodiment of the present invention, when the relative position relationship between the virtual path and the parking space is the separation position relationship, it is further required to determine width information of the vehicle, and determine whether the shortest distance between the virtual path and the parking space is greater than the width information of the vehicle, when the shortest distance between the virtual path and the parking space is greater than the width information of the vehicle, it is determined that the parking space satisfies a parking condition for vertical parking, and when the shortest distance between the virtual path and the parking space is less than the width information of the vehicle, it is determined that the parking condition for vertical parking is not satisfied.
Because the vehicle has a certain width, even if the relative position relationship between the virtual path and the parking space is the separated position relationship, when the vehicle parks according to the virtual path, the vehicle may interfere with the parking space, and there is a risk of collision with the vehicle or the obstacle in the adjacent parking space.
In an embodiment of the present invention, step 403 may include the following sub-steps:
substep 41, determining angle information of the parking space;
the angle information can be an included angle between a side parking space frame in the parking space and the road direction.
After the accessible space of the vehicle in the entrance area of the parking space is determined, the parking space frame information of the parking space can be determined, and then the direction information corresponding to the side parking space frame can be determined from the parking space frame information, the direction information in the lane line information of the road where the vehicle is currently located can be determined, and the angle information of the parking space can be determined according to the direction information corresponding to the side parking space frame and the direction information in the lane line information of the road where the vehicle is currently located.
Substep 42, determining parking space type information of the parking space according to the angle information;
the parking space type information of the parking space can comprise front inclined parking space type information, vertical parking space type information and parallel parking space type information.
After the angle information is obtained, the value in the angle information can be determined, and then the parking space type information of the parking space can be determined according to the angle value in the angle information.
In practical application, when the included angle between the side parking space frame in the parking space and the road direction is 90 degrees, it can be stated that the direction of the parking space is perpendicular to the road direction, the parking space type of the parking space is a perpendicular parking space type, that is, the parking space type information of the parking space is perpendicular parking space type information.
When the included angle between the side parking space frame and the road direction in the parking space is 0 degree or 180 degrees, it can be shown that the direction of the parking space is parallel to the road direction, the parking space type of the parking space is a parallel parking space type, that is, the parking space type information of the parking space is parallel parking space type information.
When the included angle between the side parking space frame and the road direction in the parking space is 0 degree to 90 degrees or 90 degrees to 180 degrees, it can be shown that the parking space direction is neither perpendicular nor parallel to the road direction, the parking space type of the parking space is a front inclined parking space type, that is, the parking space type information of the parking space is front inclined parking space type information.
And a substep 43 of judging whether the parking space capable of parking meets the parking condition of vertical parking according to the parking space type information.
After the parking space type information of the parking space is obtained, whether the parking space type information of the parking space is vertical parking space type information or not can be determined, and when the parking space type information of the parking space is vertical parking space type information, the parking space can be judged to meet the parking condition of vertical parking.
When the parking space type information of the parking space is not the vertical parking space type information, the parking space can be judged not to meet the parking condition of vertical parking.
Step 404, when it is determined that the parking available space does not satisfy the parking condition for vertical parking, determining a parking path for forward parking according to the parking available space and the vehicle reachable space;
when the parking available space does not meet the parking condition of vertical parking, the parking available space can be determined not to adopt the parking mode of vertical parking to park, further the forward parking mode can be adopted to park, and the step of determining the parking path for forward parking according to the parking available space and the vehicle accessible space is executed.
And step 405, controlling the vehicle to park forward according to the parking path.
In the embodiment of the invention, whether a parking space exists in an area in front of a vehicle is detected, when the parking space exists in the area in front of the vehicle is detected, the accessible space of the vehicle in an entrance area of the parking space is determined, whether the parking space meets the parking condition of vertical parking is judged, when the parking space does not meet the parking condition of vertical parking is judged, a parking path for forward parking is determined according to the parking space and the accessible space of the vehicle, the vehicle is controlled to forward park according to the parking path, the forward parking of the vehicle is controlled, the safety of the vehicle is improved by judging whether the parking space meets the condition of vertical parking, and the parking interruption caused by parking after the vehicle drives through the parking space is avoided by detecting the parking space in front of the vehicle without driving the parking space, the efficiency of parking is improved.
An embodiment of an automatic parking method according to the present invention is described below with reference to fig. 5:
1. in the parking process, the parking space in the area in front of the vehicle can be detected through the laser radar in the vehicle, the accessible space of the vehicle in the entrance area of the parking space can be determined, the travelable space in the road in front of the vehicle can be obtained, and whether the parking space meets the parking condition of vertical parking or not is judged based on the travelable space in the road in front of the vehicle.
2. And when the parking available space does not meet the parking condition of vertical parking, determining a parking path for forward parking according to the position of the parking available space and the accessible space of the vehicle.
3. And controlling the vehicle to park forwards according to the parking path so that the vehicle is parked in the parking space.
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 schematic structural diagram of an automatic parking apparatus according to an embodiment of the present invention is shown, which may specifically include the following modules:
the parking space detection module 601 is used for detecting whether a parking space exists in an area in front of a vehicle;
a vehicle reachable space determination module 602, configured to determine, when it is detected that a parking space exists in an area in front of the vehicle, a vehicle reachable space in an entrance area of the parking space;
a parking path determining module 603, configured to determine a parking path for forward parking according to the parking space and the vehicle reachable space; the forward parking is a parking mode that the head of the vehicle is firstly parked in the parking space;
and the parking module 604 is used for controlling the vehicle to park forward according to the parking path.
In an embodiment of the present invention, the parking space detecting module 601 includes:
an environmental information acquisition sub-module for acquiring environmental information in an area in front of the vehicle;
the candidate parking space determining submodule is used for determining candidate parking spaces in an area in front of the vehicle according to the environment information;
the parking space determining submodule is used for determining a parking space in the candidate parking spaces;
and the parking space determining submodule is used for determining whether parking spaces exist in the area in front of the vehicle or not according to the parking space.
In an embodiment of the present invention, the vehicle reachable space determining module 602 includes:
the obstacle information determining submodule is used for determining obstacle information in an entrance area of the parking space according to the environment information;
and the road information acquisition submodule is used for acquiring the current road information of the vehicle and determining the reachable space of the vehicle in the entrance area of the parking space according to the road information and the obstacle information.
In an embodiment of the present invention, the apparatus further includes:
the parking condition judging module is used for judging whether the parking space capable of parking meets the parking condition of vertical parking;
and the execution module is used for executing the determination of the parking path for forward parking according to the parking space and the vehicle reachable space when the parking space is judged not to meet the parking condition of vertical parking.
In an embodiment of the present invention, the parking condition determining module includes:
a travelable space acquisition sub-module for acquiring a travelable space located in a road ahead of the vehicle;
the virtual path generation submodule is used for generating a virtual path for vertical parking according to the travelable space;
the relative position relation determining submodule is used for determining the relative position relation between the virtual path and the parking space;
and the parking condition judgment submodule based on the relative position relationship is used for judging whether the parking space meets the parking condition of vertical parking according to the relative position relationship.
In an embodiment of the present invention, the parking condition determining module includes:
the parking position angle information determining submodule is used for determining the parking position angle information;
the parking place type information determining submodule is used for determining the parking place type information of the parking place according to the angle information;
and the parking condition judgment submodule based on the parking space type information is used for judging whether the parking space capable of parking meets the parking condition of vertical parking according to the parking space type information.
In an embodiment of the present invention, the parking path determining module 603 includes:
the target parking position determining submodule is used for determining a target parking position of the parking space;
and the parking path determining submodule is used for determining the parking path for forward parking according to the target parking position and the vehicle reachable space.
In the embodiment of the invention, whether a parking space exists in an area in front of a vehicle is detected, when the parking space exists in the area in front of the vehicle is detected, a vehicle accessible space in an entrance area of the parking space is determined, and a parking path for forward parking is determined according to the parking space and the vehicle accessible space, wherein the forward parking is a parking mode that the head of the vehicle is parked into the parking space first, the vehicle is controlled to carry out forward parking according to the parking path, so that the vehicle is controlled to carry out forward parking, the parking is carried out without driving the parking space through detecting the parking space in front of the vehicle, the condition that the parking is interrupted due to the fact that the vehicle is parked after driving the parking space is avoided, and the parking efficiency is improved.
An embodiment of the present invention further provides a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for automatic parking is implemented.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for automatic parking is implemented.
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 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 method and the device for automatic parking provided above are described in detail, and the principle and the embodiment of the present invention are explained in detail by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present 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 (12)
1. A method for automatic parking, the method comprising:
detecting whether a parking space exists in an area in front of a vehicle;
determining a vehicle reachable space within an entrance area of a parking space upon detecting the presence of the parking space in an area in front of the vehicle;
determining a parking path for forward parking according to the parking space and the vehicle reachable space; the forward parking is a parking mode that the head of the vehicle is firstly parked in the parking space;
and controlling the vehicle to park forwards according to the parking path.
2. The method of claim 1, wherein said detecting whether there is a parking space in an area in front of the vehicle comprises:
acquiring environmental information in an area in front of a vehicle;
determining candidate parking spaces in an area in front of the vehicle according to the environment information;
determining a parking space in the candidate parking spaces;
according to the parking space, it is determined whether there are parking spaces in the area in front of the vehicle.
3. The method of claim 2, wherein said determining a vehicle accessible space located within an entrance area of said parking space comprises:
determining obstacle information located in an entrance area of the parking space according to the environment information;
and acquiring the current road information of the vehicle, and determining the reachable space of the vehicle in the entrance area of the parking space according to the road information and the obstacle information.
4. The method of claim 1, further comprising, prior to said determining a parking path for forward parking based on said available parking space and said vehicle accessible space:
judging whether the parking space meets the parking condition of vertical parking;
and when the parking available space does not meet the parking condition of vertical parking, determining a parking path for forward parking according to the parking available space and the vehicle reachable space.
5. The method of claim 4, wherein said determining whether the parking space satisfies a parking condition for vertical parking comprises:
acquiring a travelable space in a road in front of the vehicle;
generating a virtual path for vertical parking according to the travelable space;
determining the relative position relationship between the virtual path and the parking space;
and judging whether the parking space meets the parking condition of vertical parking or not according to the relative position relation.
6. The method of claim 4, wherein said determining whether the parking space satisfies a parking condition for vertical parking comprises:
determining the angle information of the parking space;
determining parking place type information of the parking place according to the angle information;
and judging whether the parking space capable of parking meets the parking condition of vertical parking or not according to the parking space type information.
7. The method of claim 1, wherein said determining a parking path for forward parking based on said available parking space and said vehicle accessible space comprises:
determining a target parking position of the parking space;
and determining the parking path for forward parking according to the target parking position and the vehicle reachable space.
8. An apparatus for automatic parking, comprising:
the parking space detection module is used for detecting whether a parking space exists in an area in front of the vehicle;
the parking space determination module is used for determining a parking space in an entrance area of a parking space when the parking space in the area in front of the vehicle is detected;
the parking path determining module is used for determining a parking path for forward parking according to the parking space and the vehicle reachable space; the forward parking is a parking mode that the head of the vehicle is firstly parked in the parking space;
and the parking module is used for controlling the vehicle to park forwards according to the parking path.
9. The apparatus of claim 8, wherein the parking space detection module comprises:
an environmental information acquisition sub-module for acquiring environmental information in an area in front of the vehicle;
the candidate parking space determining submodule is used for determining candidate parking spaces in an area in front of the vehicle according to the environment information;
the parking space determining submodule is used for determining a parking space in the candidate parking spaces;
and the parking space determining submodule is used for determining whether parking spaces exist in the area in front of the vehicle or not according to the parking space.
10. The apparatus of claim 8, further comprising:
the parking condition judging module is used for judging whether the parking space capable of parking meets the parking condition of vertical parking;
and the execution module is used for executing the determination of the parking path for forward parking according to the parking space and the vehicle reachable space when the parking space is judged not to meet the parking condition of vertical parking.
11. A vehicle comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing a method for automatic parking according to any one of claims 1 to 7.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for automatic parking according to any one of claims 1 to 7.
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| CN202110020625.4A CN112744213A (en) | 2021-01-07 | 2021-01-07 | Automatic parking method and device |
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| CN202110020625.4A CN112744213A (en) | 2021-01-07 | 2021-01-07 | Automatic parking method and device |
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