CN113487908A - Method and device for determining vehicle parking position and storage medium - Google Patents
Method and device for determining vehicle parking position and storage medium Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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Abstract
The present disclosure provides a method, an apparatus and a storage medium for determining a parking position of a vehicle, wherein the method comprises: selecting a target green belt according to the position information of the guiding line and the green belt, and determining the translation direction of the target green belt; performing translation processing on the target green belt based on the position information, the guiding line and the translation direction of the target green belt; and determining a safe parking position according to the intersection information of the target green belt and the guiding line so as to control the vehicle to park. The method, the device and the storage medium disclosed by the invention can be used for avoiding traffic jam caused by blocking the traffic of other vehicles; the automatic driving control method can avoid the occurrence of collision events, improve the safety of automatic driving and improve the control precision of automatic driving.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a device for determining a vehicle parking position and a storage medium.
Background
The automatic driving is also called unmanned driving, and is an advanced technology for planning a driving path through a computer system and controlling a vehicle to automatically drive according to the planned driving path. Autonomous vehicles may be of various types, including high speed autonomous vehicles, low speed autonomous vehicles, and the like. The high-speed automatic driving vehicle can be a taxi, a family car and the like which adopt automatic driving; the low-speed automatic driving vehicle can be an electronic commerce intelligent distribution vehicle adopting automatic driving, a distribution robot and the like. The low-speed automatic driving vehicle runs on a non-motor lane or a pedestrian crossing when passing through a road junction due to the low speed of the low-speed automatic driving vehicle. Because the low-speed automatic driving vehicle is difficult to acquire the green light remaining time, in actual operation, the situation that the automatic driving vehicle turns into red light soon after passing through the intersection is easy to happen, traffic jam is easy to cause, and even a collision accident can happen.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method, an apparatus and a storage medium for determining a parking position of a vehicle.
According to a first aspect of the present disclosure, there is provided a method of determining a parking position of a vehicle, including: judging whether the safe parking position of the vehicle needs to be determined or not according to the navigation path, the vehicle position information, the signal lamp information and the stop line position information; if the safe parking position needs to be determined, acquiring a guiding line based on the navigation path, selecting a target green belt according to the guiding line and the position information of the green belt, and determining the translation direction of the target green belt; performing translation processing on the target green belt based on the position information of the target green belt, the guiding line and the translation direction; and determining the safe parking position according to the intersection information of the translated target green belt and the guiding line, and controlling the vehicle to park according to the safe parking position.
Optionally, the obtaining a guiding line based on the navigation path includes: acquiring a coordinate point set corresponding to the navigation path; wherein the information of each coordinate point in the set of coordinate points comprises: direction, mileage and lane information; generating the guiding line based on coordinate points in the set of coordinate points.
Optionally, the selecting a target green belt according to the guiding line and the position information of the green belt comprises: generating a green belt rectangular frame based on the position information of the green belt; and selecting the green belt which is closest to the guiding line and has no intersection point with the corresponding green belt rectangular frame as the target green belt.
Optionally, the determining the translation direction of the target green belt comprises: acquiring projection points of four vertexes of a rectangular frame of the target green belt corresponding to the target green belt on the guiding lines respectively, and determining four projection distances between the four vertexes and the corresponding projection points; selecting two shortest projection distances from the four projection distances, determining two vertexes corresponding to the two shortest projection distances as translation end points, and determining the other two vertexes as translation start points; setting a connecting line between the two translation starting points and the corresponding translation end point to obtain two translation direction line segments; wherein the two translation direction line segments have no intersection point; and selecting the direction of any one of the two translation direction line segments as the translation direction.
Optionally, the translating the target green belt based on the position information of the target green belt, the guiding line and the translating direction includes: acquiring a first distance between the center of the rectangular frame of the target green belt and the guiding line; acquiring a second distance between the translation end point and the guiding line; determining a translation distance of the target green belt based on the first distance and the second distance; and moving each coordinate point in the target green belt by the translation distance along the translation direction.
Optionally, the translation distance is shift _ dis ═ max (dis a, dis b) + disC)/2; where, disA and disco are two second distances and disC is a first distance.
Optionally, the determining the safe parking position according to the translated intersection information of the target green belt and the guiding line includes: acquiring two intersection points of the edge of the target green belt after translation and the guiding line; determining two third distances between the two intersection points and the guiding lines before translation; and selecting the intersection point corresponding to the larger third distance of the two third distances as the safe parking position.
Optionally, whether the safe parking position is located behind the head of the vehicle is judged, if not, the vehicle is controlled to park according to the safe parking position, and a virtual wall is arranged at the safe parking position.
Optionally, the determining whether the safe parking position of the vehicle needs to be determined according to the navigation path, the vehicle position information, the signal light information, and the stop line position information includes: judging whether the vehicle crosses the stop line or not according to the navigation path, the vehicle position information and the stop line position information; judging whether the current signal lamp is a red lamp or not according to the signal lamp information; and if the vehicle crosses the stop line and the current signal lamp is a red lamp, judging that the safe parking position of the vehicle needs to be determined.
According to a second aspect of the present disclosure, there is provided a vehicle parking position determination apparatus including: the starting judgment module is used for judging whether the safe parking position of the vehicle needs to be determined or not according to the navigation path, the vehicle position information, the signal lamp information and the stop line position information; the direction determining module is used for acquiring a guiding line based on the navigation path if the safe parking position needs to be determined, selecting a target green belt according to the guiding line and the position information of the green belt, and determining the translation direction of the target green belt; the translation processing module is used for carrying out translation processing on the target green belt based on the position information of the target green belt, the guiding line and the translation direction; and the position determining module is used for determining the safe parking position according to the intersection information of the translated target green belt and the guiding line, and controlling the vehicle to park according to the safe parking position.
Optionally, the direction determining module includes: the guiding line generating unit is used for acquiring a coordinate point set corresponding to the navigation path; wherein the information of each coordinate point in the set of coordinate points comprises: direction, mileage and lane information; generating the guiding line based on coordinate points in the set of coordinate points.
Optionally, the direction determining module includes: a green belt determining unit for generating a green belt rectangular frame based on the position information of the green belt; and selecting the green belt which is closest to the guiding line and has no intersection point with the corresponding green belt rectangular frame as the target green belt.
Optionally, the direction determining module includes: the translation direction determining unit is used for acquiring projection points of four vertexes of a rectangular frame of the target green belt corresponding to the target green belt on the guiding lines respectively and determining four projection distances between the four vertexes and the corresponding projection points; selecting two shortest projection distances from the four projection distances, determining two vertexes corresponding to the two shortest projection distances as translation end points, and determining the other two vertexes as translation start points; setting a connecting line between the two translation starting points and the corresponding translation end point to obtain two translation direction line segments; wherein the two translation direction line segments have no intersection point; and selecting the direction of any one of the two translation direction line segments as the translation direction.
Optionally, the translation processing module is specifically configured to obtain a first distance between the center of the rectangular frame of the target green belt and the guiding line; acquiring a second distance between the translation end point and the guiding line; determining a translation distance of the target green belt based on the first distance and the second distance; and moving each coordinate point in the target green belt by the translation distance along the translation direction.
Optionally, the translation distance is shift _ dis ═ max (dis a, dis b) + disC)/2; where, disA and disco are two second distances and disC is a first distance.
Optionally, the position determining module is configured to obtain two intersections of the translated edge of the target green belt and the guiding line; determining two third distances between the two intersection points and the guiding lines before translation; and selecting the intersection point corresponding to the larger third distance of the two third distances as the safe parking position.
Optionally, the position determining module is further configured to determine whether the safe parking position is located behind a vehicle head of the vehicle, if not, control the vehicle to park according to the safe parking position, and set a virtual wall at the safe parking position.
Optionally, the start determining module is specifically configured to determine whether the vehicle crosses the stop line according to the navigation path, the vehicle position information, and the stop line position information; judging whether the current signal lamp is a red lamp or not according to the signal lamp information; and if the vehicle crosses the stop line and the current signal lamp is a red lamp, judging that the safe parking position of the vehicle needs to be determined.
According to a third aspect of the present disclosure, there is provided a vehicle parking position determination apparatus including: a memory; and a processor coupled to the memory, the processor configured to perform the method as described above based on instructions stored in the memory.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium storing computer instructions for execution by a processor of a method as defined in any one of the above.
The method, the device and the storage medium for determining the parking position of the vehicle select the target green belt according to the position information of the guiding line and the green belt, and determine the translation direction of the target green belt; performing translation processing on the target green belt based on the position information, the guiding line and the translation direction of the target green belt; according to the intersection information of the target green belt and the guiding line, a safe parking position is determined to control the vehicle to park, and traffic jam caused by blocking of the other vehicles is avoided; the automatic driving control method can avoid the occurrence of collision events, improve the safety of automatic driving and improve the control precision of automatic driving.
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In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a method for determining a parking location of a vehicle according to the present disclosure;
fig. 2 is a schematic flow chart of determining the translation direction of the target green belt in one embodiment of the vehicle parking position determining method according to the present disclosure;
FIG. 3 is a schematic flow chart illustrating a translation process for a target green belt in an embodiment of a method for determining a parking position of a vehicle according to the present disclosure;
FIG. 4 is a schematic illustration of a safe parking position calculation;
FIG. 5 is a schematic view of the target green belt after translation;
FIG. 6 is a block schematic diagram of one embodiment of a vehicle park position determination apparatus according to the present disclosure;
FIG. 7 is a block schematic diagram of a direction determination module in one embodiment of a vehicle parking position determination apparatus according to the present disclosure;
fig. 8 is a block diagram illustrating another embodiment of a vehicle parking position determining apparatus according to the present disclosure.
Detailed Description
The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The terms "first" and "second" are used only for descriptive distinction and have no other special meaning.
Fig. 1 is a schematic flowchart of an embodiment of a method for determining a parking position of a vehicle according to the present disclosure, as shown in fig. 1:
and step 101, judging whether the safe parking position of the vehicle needs to be determined or not according to the navigation path, the vehicle position information, the signal lamp information and the stop line position information.
In one embodiment, the vehicle may be of various types, such as a taxi, a family car, etc. that employs autonomous driving; the vehicle may also be a low-speed autonomous vehicle, such as an intelligent delivery vehicle using autonomous electricity merchants, a delivery robot, and the like.
The vehicle can travel on a non-motorized lane or a crosswalk while passing through the intersection. The vehicle is provided with navigation software and the like, and the navigation path of the vehicle can be acquired by inquiring the navigation software. The vehicle is equipped with a positioning device such as a GPS, and positional information (latitude and longitude information, etc.) of the vehicle can be acquired by the positioning device. The stop-line position at the intersection or the like can be determined by navigation software or the like, and whether the vehicle has passed the stop-line can be determined based on the stop-line position and the position information of the vehicle.
The vehicle is provided with an image acquisition device, such as a camera, and the current signal lamp information is determined by analyzing the image acquired by the camera through vehicle-mounted image analysis software, wherein the signal lamp information comprises information such as red light or green light.
There may be various judgment strategies for judging whether the safe parking position of the vehicle needs to be determined. For example, whether the vehicle crosses the stop line is judged according to the navigation path, the vehicle position information and the stop line position information, whether the current signal lamp is a red lamp is judged according to the signal lamp information, and if the vehicle crosses the stop line and the current signal lamp is the red lamp, the safe parking position of the vehicle is judged to be determined; namely, if the vehicle crosses the stop line and the current traffic light state is the red light, the safe parking position is determined to be calculated according to the green belt information.
And 102, if the safe parking position needs to be determined, acquiring a guiding line based on the navigation path, selecting a target green belt according to the guiding line and the position information of the green belt, and determining the translation direction of the target green belt.
In one embodiment, a set of coordinate points corresponding to the navigation path is obtained, and a reference line is generated based on the coordinate points in the set of coordinate points. Smoothing the navigation path to obtain a coordinate point set, and taking a line segment generated based on the coordinate point set as a guiding line; the coordinate points in the coordinate point set include coordinates x, y, heading theta, mileage s, lane information, and the like.
The vehicle is provided with map software and the like, and the position information of the green belt, the shape of the green belt, the coordinate information and the like can be obtained through the map software. Various selection strategies can be set, and the target green belts can be selected according to the guiding lines and the position information of one or more green belts. The selection of the target green belt can adopt various methods. For example, a green belt rectangular frame is generated based on the position information of the green belt, and the green belt closest to the guiding line and having no intersection point between the corresponding green belt rectangular frame and the guiding line is selected as the target green belt.
And 103, performing translation processing on the target green belt based on the position information, the guiding line and the translation direction of the target green belt.
And step 104, determining a safe parking position according to the intersection information of the translated target green belt and the guiding line, and controlling the vehicle to park according to the safe parking position. For example, after the safe parking position is determined, the vehicle can be controlled to park at the safe parking position, so that the traffic jam caused by blocking the traffic of other vehicles is avoided.
Fig. 2 is a schematic flow chart of determining the translation direction of the target green belt in an embodiment of the method for determining the parking position of the vehicle according to the present disclosure, as shown in fig. 2:
In one embodiment, the green belt belongs to one layer of a high-precision map, and is represented by polygons in the map. The green belt closest to the vehicle is calculated, the green belt is abstracted into a green belt rectangular frame, and the green belt rectangular frame can be generated based on the position information of the green belt by adopting various existing methods. And judging whether the rectangular frame of the green belt has an intersection with the guiding line, if so, ignoring the green belt and not processing. And finally, selecting the green belt which is closest to the guiding line and has no intersection point with the corresponding green belt rectangular frame as a target green belt.
As shown in fig. 4, four vertices (a, B, C, D) of a rectangular frame of the target green belt corresponding to the target green belt are projected onto the guiding line, and two points (a, B) closest to the guiding line in the L direction are obtained. The coordinate system in fig. 4 is a Frenet coordinate system, which uses the vehicle itself as an origin, and coordinate axes are perpendicular to each other, a horizontal axis is a direction of the index line, and a vertical axis is an L direction.
After two vertexes (A, B) closest to the guiding line are found, projecting the four vertexes of the rectangular frame of the target green belt to the guiding line, and sequencing from small to large according to the absolute value of the L coordinate value of the projection distance to obtain a sequenced point set; the first two points (A, B) of the set are respectively used as the end points of two line segments (line segments in the translation direction), the remaining two points (C, D) are used as the starting points of the line segments, whether the two line segments have intersection points is judged, and if so (for example, the case of CA and DB appears), the starting points of the two line segments are exchanged. The orientation of any one of the two line segments DA, CB is taken as the translation direction.
Fig. 3 is a schematic flow chart of the translation process for the target green belt in an embodiment of the method for determining the parking position of the vehicle according to the present disclosure, as shown in fig. 3:
In one embodiment, the translation distance may be calculated in a variety of ways. For example, the translation distance is shift _ dis ═ max (dis a, dis b) + disC)/2; where, disA and disco are two second distances and disC is a first distance.
And step 304, moving each coordinate point in the target green belt by a translation distance along the translation direction.
And acquiring two intersection points of the edge of the target green belt after translation and the guiding line, and determining two third distances between the two intersection points before translation and the guiding line. And selecting the intersection point corresponding to the larger third distance of the two third distances as a safe parking position. And judging whether the safe parking position is positioned behind the head of the vehicle, if not, controlling the vehicle to park according to the safe parking position, and arranging a virtual wall at the safe parking position.
In one embodiment, as shown in fig. 4, a distance disC from the center of the rectangular frame of the target green belt to the guiding line is calculated, distances disp, disp from translation vertices a, B to the guiding line are calculated, and then translation distance shift _ dis ═ max (disp ) + disC)/2.0. And (4) translating each coordinate point in the target green belt by the length of shift _ dis in the direction of the line segment DA.
As shown in fig. 5, two coordinate points adjacent to the translated green belt are sequentially constructed as a line segment, and a line segment set line _ set is obtained. Sequentially constructing two adjacent coordinate points on the guide line into a line segment to obtain a line segment set ref _ line _ set; finding the point set of intersection points of the line segments intersecting in line _ set and ref _ line _ set (p1, p 2); if the number of points in the point _ set is not equal to 2, ignoring the green belt, otherwise, projecting two points in the point _ set to the guiding line, and taking the larger projection point (p2) of S on the guiding line as a parking available position. Judging the rationality of the point p 2: if p2 is behind the host locomotive, then not considered, otherwise a virtual wall is added at the position of p2, preventing the vehicle from continuing to travel forward, crossing that position.
In one embodiment, as shown in fig. 6, the present disclosure provides a vehicle parking position determining apparatus 60 including: a start-up decision module 61, an orientation determination module 62, a translation processing module 63 and a position determination module 64. The start judgment module 61 judges whether the safe parking position of the vehicle needs to be determined according to the navigation path, the vehicle position information, the signal lamp information and the stop line position information.
The start judging module 61 judges whether the vehicle crosses the stop line according to the navigation path, the vehicle position information and the stop line position information, and judges whether the current signal lamp is red according to the signal lamp information. The start judgment module 61 judges that a safe parking position of the vehicle needs to be determined if the vehicle crosses the stop line and the current signal light is red.
If the safe parking position needs to be determined, the direction determination module 62 acquires the guiding line based on the navigation path, selects the target green belt according to the guiding line and the position information of the green belt, and determines the translation direction of the target green belt.
The translation processing module 63 performs translation processing on the target green belt based on the position information, the guiding line and the translation direction of the target green belt. The position determining module 64 determines a safe parking position according to the intersection information of the translated target green belts and the guiding lines, so as to control the vehicle to park according to the safe parking position.
In one embodiment, as shown in fig. 7, the direction determining module 62 includes a guiding line generating unit 621, a green belt determining unit 622, and a translation direction determining unit 623. The guiding line generating unit 621 acquires a set of coordinate points corresponding to the navigation path; the information of each coordinate point in the coordinate point set comprises direction, mileage and lane information. The guiding line generation unit 621 generates a guiding line based on the coordinate points in the coordinate point set.
The green belt determining unit 622 generates a green belt rectangular frame based on the position information of the green belt, and selects a green belt which is closest to the guiding line and has no intersection point with the corresponding green belt rectangular frame as a target green belt.
In one embodiment, the translation direction determining unit 623 acquires projection points of four vertices of a rectangular frame of the target green belt corresponding to the target green belt on the guiding lines, respectively, and determines four projection distances between the four vertices and the corresponding projection points. The translation direction determining unit 623 selects two shortest projection distances from the four projection distances, determines two vertexes corresponding to the target green belt rectangular frame and the two shortest projection distances as translation end points, and determines the remaining two vertexes as translation start points.
The translation direction determining unit 623 sets a connection line between two translation starting points and a corresponding translation ending point to obtain two translation direction line segments; wherein, the two translation direction line segments have no intersection point; the translation direction determining unit 623 selects a direction of any one of the two translation direction line segments as a translation direction.
The translation processing module 63 obtains a first distance between the center of the rectangular frame of the target green belt and the guiding line, obtains a second distance between the translation end point and the guiding line, and determines the translation distance of the target green belt based on the first distance and the second distance. The translation processing module 63 moves each coordinate point in the target green belt by a translation distance in the translation direction.
The position determining module 64 obtains two intersection points of the edge of the translated target green belt and the guiding line, and determines two third distances between the two intersection points and the guiding line before translation. The position determining module 64 selects an intersection point corresponding to the larger one of the two third distances as the safe parking position. The position determination module 64 determines whether the safe parking position is located behind the head of the vehicle, and if not, controls the vehicle to park according to the safe parking position and sets a virtual wall at the safe parking position.
Fig. 8 is a block diagram illustrating another embodiment of a vehicle parking position determining apparatus according to the present disclosure. As shown in fig. 8, the apparatus may include a memory 81, a processor 82, a communication interface 83, and a bus 84. The memory 81 is used for storing instructions, the processor 82 is coupled to the memory 81, and the processor 82 is configured to execute a determination method for implementing the vehicle parking position described above based on the instructions stored in the memory 81.
The memory 81 may be a high-speed RAM memory, a non-volatile memory (non-volatile memory), or the like, and the memory 81 may be a memory array. The storage 81 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. The processor 82 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement the vehicle park position determination method of the present disclosure.
In one embodiment, the present disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement a method of determining a parking position of a vehicle as in any one of the above embodiments.
A computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium may include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
In the method, the device and the storage medium for determining the parking position of the vehicle in the above embodiments, the target green belt is selected according to the position information of the guiding line and the green belt, and the translation direction of the target green belt is determined; performing translation processing on the target green belt based on the position information, the guiding line and the translation direction of the target green belt; according to the intersection information of the target green belt and the guiding line, a safe parking position is determined to control the vehicle to park, and traffic jam caused by blocking of the other vehicles is avoided; the automatic driving control method can avoid the occurrence of collision events, improve the safety of automatic driving and improve the control precision of automatic driving.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, and systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," comprising, "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects, and the like, will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (20)
1. A method of determining a parking position of a vehicle, comprising:
judging whether the safe parking position of the vehicle needs to be determined or not according to the navigation path, the vehicle position information, the signal lamp information and the stop line position information;
if the safe parking position needs to be determined, acquiring a guiding line based on the navigation path, selecting a target green belt according to the guiding line and the position information of the green belt, and determining the translation direction of the target green belt;
performing translation processing on the target green belt based on the position information of the target green belt, the guiding line and the translation direction;
and determining the safe parking position according to the intersection information of the translated target green belt and the guiding line, and controlling the vehicle to park according to the safe parking position.
2. The method of claim 1, the obtaining a guideline based on the navigation path comprising:
acquiring a coordinate point set corresponding to the navigation path; wherein the information of each coordinate point in the set of coordinate points comprises: direction, mileage and lane information;
generating the guiding line based on coordinate points in the set of coordinate points.
3. The method as claimed in claim 1 or 2, wherein said selecting a target green belt according to the position information of the guiding line and the green belt comprises:
generating a green belt rectangular frame based on the position information of the green belt;
and selecting the green belt which is closest to the guiding line and has no intersection point with the corresponding green belt rectangular frame as the target green belt.
4. The method of claim 1 or 2, said determining a translation direction of said target green belt comprising:
acquiring projection points of four vertexes of a rectangular frame of the target green belt corresponding to the target green belt on the guiding lines respectively, and determining four projection distances between the four vertexes and the corresponding projection points;
selecting two shortest projection distances from the four projection distances, determining two vertexes corresponding to the two shortest projection distances as translation end points, and determining the other two vertexes as translation start points;
setting a connecting line between the two translation starting points and the corresponding translation end point to obtain two translation direction line segments; wherein the two translation direction line segments have no intersection point;
and selecting the direction of any one of the two translation direction line segments as the translation direction.
5. The method of claim 4, wherein the translating the target green belt based on the position information of the target green belt, the guiding line and the translation direction comprises:
acquiring a first distance between the center of the rectangular frame of the target green belt and the guiding line;
acquiring a second distance between the translation end point and the guiding line;
determining a translation distance of the target green belt based on the first distance and the second distance;
and moving each coordinate point in the target green belt by the translation distance along the translation direction.
6. The method of claim 5, wherein,
the translation distance is shift _ dis ═ max (dis a, dis b) + disC)/2;
where, disA and disco are two second distances and disC is a first distance.
7. The method of claim 5, wherein the determining the safe parking position according to the translated intersection information of the target green belt and the guiding line comprises:
acquiring two intersection points of the edge of the target green belt after translation and the guiding line;
determining two third distances between the two intersection points and the guiding lines before translation;
and selecting the intersection point corresponding to the larger third distance of the two third distances as the safe parking position.
8. The method of claim 7, further comprising:
and judging whether the safe parking position is positioned behind the head of the vehicle, if not, controlling the vehicle to park according to the safe parking position, and arranging a virtual wall at the safe parking position.
9. The method of any one of claims 1 to 8, wherein determining whether a safe parking position of the vehicle needs to be determined based on the navigation path, the vehicle position information, the signal light information, and the stop line position information comprises:
judging whether the vehicle crosses the stop line or not according to the navigation path, the vehicle position information and the stop line position information;
judging whether the current signal lamp is a red lamp or not according to the signal lamp information;
and if the vehicle crosses the stop line and the current signal lamp is a red lamp, judging that the safe parking position of the vehicle needs to be determined.
10. A vehicle parking position determination apparatus comprising:
the starting judgment module is used for judging whether the safe parking position of the vehicle needs to be determined or not according to the navigation path, the vehicle position information, the signal lamp information and the stop line position information;
the direction determining module is used for acquiring a guiding line based on the navigation path if the safe parking position needs to be determined, selecting a target green belt according to the guiding line and the position information of the green belt, and determining the translation direction of the target green belt;
the translation processing module is used for carrying out translation processing on the target green belt based on the position information of the target green belt, the guiding line and the translation direction;
and the position determining module is used for determining the safe parking position according to the intersection information of the translated target green belt and the guiding line, and controlling the vehicle to park according to the safe parking position.
11. The apparatus of claim 10, wherein,
the direction determination module includes:
the guiding line generating unit is used for acquiring a coordinate point set corresponding to the navigation path; wherein the information of each coordinate point in the set of coordinate points comprises: direction, mileage and lane information; generating the guiding line based on coordinate points in the set of coordinate points.
12. The apparatus of claim 10 or 11,
the direction determination module includes:
a green belt determining unit for generating a green belt rectangular frame based on the position information of the green belt; and selecting the green belt which is closest to the guiding line and has no intersection point with the corresponding green belt rectangular frame as the target green belt.
13. The apparatus of claim 10 or 11,
the direction determination module includes:
the translation direction determining unit is used for acquiring projection points of four vertexes of a rectangular frame of the target green belt corresponding to the target green belt on the guiding lines respectively and determining four projection distances between the four vertexes and the corresponding projection points; selecting two shortest projection distances from the four projection distances, determining two vertexes corresponding to the two shortest projection distances as translation end points, and determining the other two vertexes as translation start points; setting a connecting line between the two translation starting points and the corresponding translation end point to obtain two translation direction line segments; wherein the two translation direction line segments have no intersection point; and selecting the direction of any one of the two translation direction line segments as the translation direction.
14. The apparatus of claim 13, wherein,
the translation processing module is specifically used for acquiring a first distance between the center of the rectangular frame of the target green belt and the guiding line; acquiring a second distance between the translation end point and the guiding line; determining a translation distance of the target green belt based on the first distance and the second distance; and moving each coordinate point in the target green belt by the translation distance along the translation direction.
15. The apparatus of claim 14, wherein,
the translation distance is shift _ dis ═ max (dis a, dis b) + disC)/2;
where, disA and disco are two second distances and disC is a first distance.
16. The apparatus of claim 14, wherein,
the position determining module is used for acquiring two intersection points of the edge of the target green belt after translation and the guiding line; determining two third distances between the two intersection points and the guiding lines before translation; and selecting the intersection point corresponding to the larger third distance of the two third distances as the safe parking position.
17. The apparatus of claim 16, wherein,
the position determining module is further used for judging whether the safe parking position is located behind the head of the vehicle, if not, controlling the vehicle to park according to the safe parking position, and setting a virtual wall at the safe parking position.
18. The apparatus of any one of claims 10 to 17,
the starting judgment module is specifically configured to judge whether a vehicle crosses the stop line according to the navigation path, the vehicle position information, and the stop line position information; judging whether the current signal lamp is a red lamp or not according to the signal lamp information; and if the vehicle crosses the stop line and the current signal lamp is a red lamp, judging that the safe parking position of the vehicle needs to be determined.
19. A vehicle parking position determination apparatus comprising:
a memory; and a processor coupled to the memory, the processor configured to perform the method of any of claims 1-9 based on instructions stored in the memory.
20. A computer-readable storage medium having stored thereon computer instructions for execution by a processor to perform the method of any one of claims 1 to 9.
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