METHOD AND APPARATUS FOR DETERMINING AUTOMATIC PARKING EFFECT, DEVICE AND STORAGE MEDIUM

• US 20200130677A1
• Filed: 10/30/2019
• Published: 04/30/2020
• Est. Priority Date: 10/30/2018
• Status: Abandoned Application

• Current Assignee: Apollo Intelligent Connectivity Technology Company Limited
• Original Assignee: Baidu Online Network Technology (Beijing) Co., Ltd (Baidu Incorporated)
• Inventors: ZHANG, Qiuyu
• Application Number:
  US16/668,497
• Publication Number:
  US 20200130677A1
• Time in Patent Office: Days
• CPC Class Codes: B60K 2360/171 Vehicle or relevant part thereof displayed
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 40/00 Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/586 of parking space

Abstract

The present disclosure provides a method and an apparatus for determining an automatic parking effect, a device and a computer readable storage medium. The method for determining the automatic parking effect includes determining surrounding environment information of a vehicle in response to completion of automatic parking of the vehicle, in which the surrounding environment information at least indicates a set of surrounding objects of the vehicle and a position relationship between the vehicle and an object in the set of surrounding objects. The method also includes selecting at least one reference object from the set of surrounding objects based on the surrounding environment information. The method also includes determining a distance between the vehicle and the at least one reference object. The method also includes determining an accuracy of the automatic parking based on the distance.

Claims

1. A method for determining an automatic parking effect, comprising:

determining surrounding environment information of a vehicle in response to completion of automatic parking of the vehicle, in which the surrounding environment information at least indicates a set of surrounding objects of the vehicle and a position relationship between the vehicle and an object in the set of surrounding objects;

selecting at least one reference object from the set of surrounding objects based on the surrounding environment information;

determining a distance between the vehicle and the at least one reference object; and

determining an accuracy of the automatic parking based on the distance.

2. The method of claim 1, wherein determining the distance between the vehicle and the at least one reference object comprises:

determining a first side of the vehicle associated with a first reference object in the at least one reference object;

selecting a first location and a second location from a first predetermined location set on the vehicle associated with the first side, the first location being different from the second location; and

determining a first distance from the first location to the first reference object and a second distance from the second location to the first reference object.

3. The method of claim 1, wherein determining the distance between the vehicle and the at least one reference object comprises:

determining a first side of the vehicle associated with a first reference object in the at least one reference object;

determining a second side of the vehicle opposite to the first side;

selecting a second reference object associated with the second side from the at least one reference object;

selecting a first location from a first predetermined location set on the vehicle associated with the first side;

selecting a second location from a second predetermined location set on the vehicle associated with the second side; and

determining a first distance from the first location to the first reference object and a second distance from the second location to the second reference object.

4. The method of claim 2, wherein determining the accuracy of the automatic parking comprises:

determining a relative relationship between the first distance and the second distance; and

determining the accuracy based on the relative relationship.

5. The method of claim 3, wherein determining the accuracy of the automatic parking comprises:

determining a relative relationship between the first distance and the second distance; and

determining the accuracy based on the relative relationship.

6. The method of claim 1, wherein determining the distance between the vehicle and the at least one reference object comprises:

in response to determining that a first reference object in the at least one reference object is an obstacle, measuring the distance between the vehicle and the first reference object by using a distance sensor arranged on the vehicle; and

in response to determining that the first reference object is a marking line, acquiring an image comprising at least a part of the vehicle and at least a part of the first reference object by using an image acquisition device arranged on the vehicle, and determining the distance between the vehicle and the first reference object from the image.

7. The method of claim 1, further comprising:

providing information related to the accuracy of the automatic parking, in which the information comprises at least one of the accuracy, the distance and a duration of the automatic parking.

8. The method of claim 7, wherein providing information related to the accuracy of the automatic parking comprises:

providing the information by using at least one of color, shape, pattern and sound corresponding to the accuracy.

9. The method of claim 7, wherein providing information related to the accuracy of the automatic parking comprises:

determining a graphical representation of the vehicle; and

representing the information in association with the graphical representation.

10. An apparatus for determining an automatic parking effect, comprising:

a processor; and

a memory, configured to store instructions executable by the processor,

wherein the processor is configured to run a program corresponding to the instructions by reading the instructions in the memory, so as to perform;

determining surrounding environment information of a vehicle in response to completion of automatic parking of the vehicle, in which the surrounding environment information at least indicates a set of surrounding objects of the vehicle and a position relationship between the vehicle and an object in the set of surrounding objects;

selecting at least one reference object from the set of surrounding objects based on the surrounding environment information;

determining a distance between the vehicle and the at least one reference object; and

determining an accuracy of the automatic parking based on the distance.

11. The apparatus of claim 10, wherein the processor is configured to:

determine a first side of the vehicle associated with a first reference object in the at least one reference object;

select a first location and a second location from a first predetermined location set on the vehicle associated with the first side, the first location being different from the second location; and

determine a first distance from the first location to the first reference object and a second distance from the second location to the first reference object.

12. The apparatus of claim 10, wherein the processor is configured to:

determine a first side of the vehicle associated with a first reference object in the at least one reference object;

determine a second side of the vehicle opposite to the first side;

select a second reference object associated with the second side from the at least one reference object;

select a first location from a first predetermined location set on the vehicle associated with the first side;

select a second location from a second predetermined location set on the vehicle associated with the second side; and

determine a first distance from the first location to the first reference object and a second distance from the second location to the second reference object.

13. The apparatus of claim 11, wherein the processor is configured to:

determine a relative relationship between the first distance and the second distance; and

determine the accuracy based on the relative relationship.

14. The apparatus of claim 12, wherein the processor is configured to:

determine a relative relationship between the first distance and the second distance; and

determine the accuracy based on the relative relationship.

15. The apparatus of claim 10, wherein the processor is configured to:

in response to determining that a first reference object in the at least one reference object is an obstacle, measure the distance between the vehicle and the first reference object by using a distance sensor arranged on the vehicle; and

in response to determining that the first reference object is a marking line, acquire an image comprising at least a part of the vehicle and at least a part of the first reference object by using an image acquisition device arranged on the vehicle, and determine the distance between the vehicle and the first reference object from the image.

16. The apparatus of claim 10, wherein the processor is further configured to:

provide information related to the accuracy of the automatic parking, in which the information comprises at least one of the accuracy, the distance and a duration of the automatic parking.

17. The apparatus of claim 16, wherein the processor is configured to:

provide the information by using at least one of color, shape, pattern and sound corresponding to the accuracy.

18. The apparatus of claim 16, wherein the processor is configured to:

determine a graphical representation of the vehicle; and

represent the information in association with the graphical representation.

19. A computer readable storage medium, stored thereon with a computer program that, when executed by a processor, a method for determining an automatic parking effect is implemented, the method comprising:

determining surrounding environment information of a vehicle in response to completion of automatic parking of the vehicle, in which the surrounding environment information at least indicates a set of surrounding objects of the vehicle and a position relationship between the vehicle and an object in the set of surrounding objects;

selecting at least one reference object from the set of surrounding objects based on the surrounding environment information;

determining a distance between the vehicle and the at least one reference object; and

determining an accuracy of the automatic parking based on the distance.