Search

CN-121982920-A - Parking space matching method, parking control method, computer program product and electronic equipment

CN121982920ACN 121982920 ACN121982920 ACN 121982920ACN-121982920-A

Abstract

The application provides a parking space matching method, a parking control method, a computer program product and electronic equipment, wherein according to the parking space matching method provided by the application, after the parking auxiliary function of a vehicle is activated, first vehicle position information of a target parking space detected in a surrounding area of the vehicle can be acquired; the first vehicle position related information at least comprises first position information of an entrance angular point of the target vehicle position, and if the first position information of the entrance angular point of the target vehicle position and the second position information of the entrance angular point of the historical parking vehicle position are based, the fact that the entrance angular point of the target vehicle position and the entrance angular point of the historical parking vehicle position meet position consistency judging conditions is recognized, the fact that the target vehicle position and the historical parking vehicle position belong to the same vehicle position can be determined.

Inventors

  • ZHANG SHOUCHUAN

Assignees

  • 博世汽车部件(苏州)有限公司

Dates

Publication Date
20260505
Application Date
20251216

Claims (14)

  1. 1. A parking space matching method comprises the following steps: after the parking auxiliary function of the vehicle is activated, acquiring first position related information of a target parking space detected for a surrounding area of the vehicle, wherein the first position related information at least comprises first position information of an entrance angular point of the target parking space; And determining that the target parking space and the historical parking space belong to the same parking space when the fact that the entrance angular point of the target parking space and the entrance angular point of the historical parking space meet the position consistency judging condition is recognized based on the first position information of the entrance angular point of the target parking space and the second position information of the entrance angular point of the historical parking space.
  2. 2. The method of claim 1, wherein the target parking space comprises at least one of a radar object belonging to a parking space type, which is obtained by processing the surrounding environment sensing data of the vehicle and acquired by the radar device, a visual object belonging to a parking space type, which is obtained by processing the surrounding environment image data of the vehicle and acquired by the image acquisition device, and a fusion object belonging to a parking space type, which is obtained by processing the surrounding environment sensing data of the vehicle and the surrounding environment image data of the vehicle.
  3. 3. The method of claim 1, wherein the historical parking spaces include at least one of a space into which the host vehicle parks during historical memory parking, other spaces detected during historical memory parking by the host vehicle, spaces detected during historical automatic bus-in parking by the host vehicle, and spaces contained in electronic map data at an area where the host vehicle is located.
  4. 4. The method according to claim 1, wherein the position consistency determination condition includes that a distance between an entry corner point of the target parking space and an entry corner point of the historic parking space belonging to the same parking space corner type is smaller than a distance threshold; The parking space corner types comprise a parking space entrance left corner and a parking space entrance right corner.
  5. 5. The method of claim 4, wherein the first location information of the entry corner point of the target parking space comprises first coordinate data of the entry corner point of the target parking space in a preset coordinate system, and the second location information of the entry corner point of the historical parking space comprises second coordinate data of the entry corner point of the historical parking space in the preset coordinate system; The determining, when it is identified that the entry corner point of the target parking space and the entry corner point of the historical parking space meet a position consistency determination condition, that the target parking space and the historical parking space belong to the same parking space includes: and determining that the target parking space and the historical parking space belong to the same parking space when determining that the Euclidean distance between the entrance corner point of the target parking space and the entrance corner point of the historical parking space at a specific horizontal plane is smaller than a distance threshold according to the first coordinate data of the entrance corner point of the target parking space and the second coordinate data of the entrance corner point of the historical parking space, wherein the entrance corner point of the target parking space belongs to the same parking space.
  6. 6. The method of claim 5, the distance threshold being determined based on at least one of parking space detection accuracy information, user driving preference information, size information of the historical parking space, and surrounding obstacle information of the historical parking space.
  7. 7. The method of claim 5, wherein the preset coordinate system comprises a geocentric coordinate system, a local map coordinate system constructed based on simultaneous localization and mapping technology, or other coordinate systems obtained by performing coordinate system conversion processing on the geocentric coordinate system or the local map coordinate system.
  8. 8. The method of any of claims 1-7, the park aid function comprising at least one of a memory park function and an automated valet park function.
  9. 9. A parking control method, comprising: The method comprises the steps of acquiring a parking space matching result after a parking auxiliary function of a vehicle is activated, wherein the parking space matching result comprises information indicating whether a target parking space and a historical parking space belong to the same parking space or not according to first position information of an entrance angular point of the target parking space detected for a surrounding area of the vehicle and second position information of an entrance angular point of the historical parking space, and determining whether the entrance angular point of the target parking space and the entrance angular point of the historical parking space meet position consistency judging conditions or not; And according to the parking space matching result, parking control is carried out on the vehicle.
  10. 10. The method of claim 9, wherein the parking control of the host vehicle according to the parking space matching result comprises: And running the parking auxiliary function, and controlling the vehicle to park in the target parking space when the parking space matching result indicates that the target parking space and the historical parking space belong to the same parking space and the target parking space meets the parking condition.
  11. 11. The method of claim 9 or 10, the park aid function comprising at least one of a memory park function and an automated valet park function.
  12. 12. A computer program product comprising a computer program which, when executed, implements the steps of the method of any one of claims 1 to 11.
  13. 13. An electronic device comprising a processor and a memory, wherein the memory stores a computer program adapted to be loaded by the processor and to perform the steps of the method according to any of claims 1-11.
  14. 14. The electronic device of claim 13, comprising at least one of a radar device, an image acquisition device, a park controller, and a domain controller.

Description

Parking space matching method, parking control method, computer program product and electronic equipment Technical Field The present application relates to the field of auxiliary parking technologies, and in particular, to a parking space matching method, a parking control method, a computer program product, and an electronic device. Background With the continuous development of intelligent driving technology, parking assist functions have become an important component of automobile intellectualization. The partial parking auxiliary function can be combined with the vehicle surrounding environment data acquired by the sensor equipment to identify the position of the current parking space around the vehicle and estimate the parking space area, and if the area of the current parking space is consistent with the area of the historical parking space of the same area stored in the system, the current parking space and the area of the historical parking space of the same area can be judged to belong to the same parking space, so that the automatic parking control can be carried out on the vehicle by combining the related information of the current parking space around the vehicle. Although the scheme improves the convenience and efficiency of parking operation to a certain extent, the parking space matching process is complex, the accuracy is poor, and the requirements of users on efficient and accurate parking experience are difficult to meet. Disclosure of Invention Based on the above, the application provides a parking space matching method, a parking control method, a computer program product and electronic equipment. In one aspect, the application provides a parking space matching method, which comprises the following steps: after the parking auxiliary function of the vehicle is activated, acquiring first position related information of a target parking space detected for a surrounding area of the vehicle, wherein the first position related information at least comprises first position information of an entrance angular point of the target parking space; And determining that the target parking space and the historical parking space belong to the same parking space when the fact that the entrance angular point of the target parking space and the entrance angular point of the historical parking space meet the position consistency judging condition is recognized based on the first position information of the entrance angular point of the target parking space and the second position information of the entrance angular point of the historical parking space. On the other hand, the application also provides a parking control method, which comprises the following steps: The method comprises the steps of acquiring a parking space matching result after a parking auxiliary function of a vehicle is activated, wherein the parking space matching result comprises information indicating whether a target parking space and a historical parking space belong to the same parking space or not according to first position information of an entrance angular point of the target parking space detected for a surrounding area of the vehicle and second position information of an entrance angular point of the historical parking space, and determining whether the entrance angular point of the target parking space and the entrance angular point of the historical parking space meet position consistency judging conditions or not; And according to the parking space matching result, parking control is carried out on the vehicle. In another aspect, the present application also provides a computer program product, which contains a computer program, and the computer program is executed to implement the steps of the parking space matching method and/or the parking control method. In another aspect, the application further provides electronic equipment, which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the parking space matching method and/or the parking control method. According to the parking space matching method and the parking control method, after the parking auxiliary function of the vehicle is activated, first position related information of a target parking space detected in a surrounding area of the vehicle can be acquired, wherein the first position related information at least comprises first position information of an entrance angular point of the target parking space, and reliability and vehicle safety when the parking auxiliary function is automatically parked based on a parking space matching result are improved by determining that the entrance angular point of the target parking space and the entrance angular point of a historical parking space meet position consistency judging conditions when the first position information of the entrance angular point of the target parking space and the second pos