CN109109855B - Method and device for automatically driving a vehicle into a parking space - Google Patents

Method and device for automatically driving a vehicle into a parking space Download PDF

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Publication number
CN109109855B
CN109109855B CN201710480458.5A CN201710480458A CN109109855B CN 109109855 B CN109109855 B CN 109109855B CN 201710480458 A CN201710480458 A CN 201710480458A CN 109109855 B CN109109855 B CN 109109855B
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vehicle
parking space
circular arc
section
determining
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CN109109855A (en
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丁晨曦
章健勇
付晶玮
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Weilai Holdings Ltd
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NIO Anhui Holding Co Ltd
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Priority to CN201710480458.5A priority Critical patent/CN109109855B/en
Priority to PCT/CN2018/075483 priority patent/WO2018233298A1/en
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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
    • 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
    • B60W40/00—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
    • 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
    • B60W2554/00—Input parameters relating to objects

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention relates to an automatic driving technology, and more particularly, to a method for determining a driving trajectory of a vehicle into a parking space, a method for automatically driving a vehicle into a parking space, and a vehicle controller and a computer-readable storage medium for implementing the method. According to one aspect of the invention, a method for determining a trajectory of a vehicle into a parking space comprises the following steps: determining position information of a vehicle, wherein the position information comprises relative positions of the vehicle, a parking space and obstacles around the parking space; and generating a driving track of the vehicle entering the parking space according to the position information, wherein the driving track comprises a plurality of sections of circular arcs.

Description

Method and device for automatically driving a vehicle into a parking space
Technical Field
The present invention relates to an automatic driving technology, and more particularly, to a method for determining a driving trajectory of a vehicle into a parking space, a method for automatically driving a vehicle into a parking space, and a vehicle controller and a computer-readable storage medium for implementing the method.
Background
Autonomous vehicles rely on artificial intelligence. The vision calculation, radar, monitoring device and global positioning system cooperate to automatically and safely operate the motor vehicle without human active operation. Along with the expansion of the urban scale, roads and parking spaces are becoming more and more scarce resources. Therefore, it is a feasible way to alleviate the problem by reasonably limiting the parking space area. But this will increase the difficulty of parking.
In the auxiliary driving of the automobile, the difficulty of full-automatic parking is how to plan a reasonable collision-avoiding vehicle running track. In the prior art, the trajectory planning mostly adopts a method of reducing a target parking area, the number of adjustment steps is large, and collision is easily caused.
Disclosure of Invention
An object of the present invention is to provide a method for determining a driving trajectory of a vehicle into a parking space, which has the advantages of simple generation of the driving trajectory and high safety.
According to one aspect of the invention, a method for determining a trajectory of a vehicle into a parking space comprises the following steps:
determining position information of a vehicle, wherein the position information comprises relative positions of the vehicle, a parking space and obstacles around the parking space; and
and generating a driving track of the vehicle entering the parking space according to the position information, wherein the driving track comprises a plurality of sections of circular arcs.
Preferably, in the above method, the step of determining the position information of the vehicle includes:
acquiring an image containing a parking space boundary line by using an image acquisition device and acquiring a detection signal of an obstacle around a parking space by using a vehicle-mounted ultrasonic sensor or a vehicle-mounted radar; and
and determining the relative position of the vehicle and the parking space according to the image obtained by the image acquisition device and determining the relative position of the vehicle and the obstacle around the parking space according to the detection signal of the vehicle-mounted ultrasonic sensor or the vehicle-mounted radar.
Preferably, in the above method, the longitudinal direction of the vehicle space is parallel to the road traveling direction.
Preferably, in the method, the driving track includes an S-shaped curve formed by splicing a first circular arc and a second circular arc.
Preferably, in the above method, the driving track of the vehicle into the parking space is generated as follows:
determining the position of the vehicle when the vehicle is parked in the parking space according to the size of the vehicle body and the boundary of the parking space to obtain the position of the end point of the second section of circular arc;
determining the center of a second section of circular arc, wherein the abscissa of the center of the second section of circular arc is the same as the abscissa of the end point, and the ordinate of the center of the second section of circular arc is selected so that the radius of the second section of circular arc is smaller than the sum of the length of the vehicle body and a preset first safety value and larger than the minimum turning radius of the vehicle;
determining the position of a starting point of a first section of circular arc, wherein the position of the starting point of the first section of circular arc is selected from a range determined according to the length of a vehicle body and the size of a parking space;
determining the position of the center of a first section of circular arc, wherein the abscissa of the center of the first section of circular arc is the same as the abscissa of the starting point, the ordinate of the center of the first section of circular arc is selected to ensure that the radius of the first section of circular arc is larger than the distance from the center of the circular arc to a dangerous point by a second safety value, the first section of circular arc and the second section of circular arc have an intersection point, and the dangerous point is the position of a rectangular vertex angle which is passed through firstly when the vehicle contour drives into a parking space; and
and determining the intersection point of the first section of circular arc and the second section of circular arc as the end point of the first section of circular arc and the starting point of the second section of circular arc.
Preferably, in the above method, the end point of the second arc corresponds to the position of a reference point on the vehicle when the vehicle is parked in the parking space, the reference point being located in the area where the contour of the vehicle enters the parking space first.
It is a further object of the present invention to provide a method for automatically driving a vehicle into a parking space, which has the advantages of simple guidance and high safety.
According to one aspect of the invention, a method for automatically driving a vehicle into a parking space comprises the following steps:
determining whether a trigger condition for starting an operation of automatically driving the vehicle into the parking space exists;
if the triggering condition exists, generating a driving track of the vehicle entering the parking space by using the method for generating the driving track; and
and if the corresponding driving track can be generated, guiding the vehicle to enter the parking space along the driving track.
It is a further object of the present invention to provide a vehicle controller that can guide a vehicle to automatically enter a parking space in a simple and safe manner.
A vehicle controller according to another aspect of the invention comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the program is executed to implement the steps of:
determining whether a trigger condition for starting an operation of automatically driving the vehicle into the parking space exists;
if the triggering condition exists, generating a driving track of the vehicle entering the parking space by using the method for generating the driving track; and
and if the corresponding driving track can be generated, guiding the vehicle to enter the parking space along the driving track.
It is a further object of the present invention to provide a device for automatically bringing a vehicle into a parking space, which is capable of guiding the vehicle automatically into the parking space in a simple and safe manner.
An apparatus for automatically entering a vehicle into a parking space according to an aspect of the present invention includes:
the system comprises a first module, a second module and a third module, wherein the first module is used for judging whether a triggering condition for starting the operation of enabling a vehicle to automatically drive into a parking space exists or not;
the second module is used for generating a driving track of the vehicle entering the parking space by using the method if the triggering condition exists; and
and the third module is used for guiding the vehicle to enter the parking space along the driving track if the corresponding driving track can be generated.
It is a further object of the present invention to provide a computer-readable storage medium that can guide a vehicle automatically into a parking space in a simple and safe manner.
A computer-readable storage medium according to another aspect of the invention, on which a computer program is stored which, when executed by a processor, carries out the steps of:
determining whether a trigger condition for starting an operation of automatically driving the vehicle into the parking space exists;
if the triggering condition exists, generating a driving track of the vehicle entering the parking space by using the method for generating the driving track; and
and if the corresponding driving track can be generated, guiding the vehicle to enter the parking space along the driving track.
Drawings
The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. The drawings comprise:
fig. 1 is a flowchart of a method for determining a driving trajectory of a vehicle into a space according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for determining location information according to the embodiment shown in fig. 1.
Fig. 3 is a flowchart of a method for generating a driving track of a vehicle entering a parking space, which is applied to the embodiment shown in fig. 1.
Fig. 4 shows an exemplary driving path of a vehicle when the vehicle enters a parking space.
Fig. 5 is a flowchart of a method for automatically entering a vehicle into a space according to another embodiment of the invention.
Fig. 6 is a schematic block diagram of a vehicle controller according to yet another embodiment of the present invention.
Fig. 7 is a schematic block diagram of an apparatus for automatically entering a vehicle into a space according to still another embodiment of the present invention.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the present specification, words such as "comprise" and "comprises" mean that, in addition to elements and steps directly and unequivocally stated in the specification and claims, the technical solution of the present invention does not exclude other elements and steps not directly or unequivocally stated.
Terms such as "first" and "second" do not denote an order of the elements in time, space, size, etc., but rather are used to distinguish one element from another.
Fig. 1 is a flowchart of a method for determining a driving trajectory of a vehicle into a space according to an embodiment of the present invention.
As shown in FIG. 1, at step 110, a device for controlling travel, such as a vehicle controller, determines location information of a vehicle in response to a user input command to park the vehicle in a designated space. The position information described herein includes at least the relative position of the vehicle to the space and the relative position of the vehicle to the obstacle around the space. Preferably, in this step, the instruction input by the user is only one of the conditions for triggering the operation of determining the vehicle position information, and the other conditions may include, for example, that the vehicle speed is lower than a set speed threshold or that the vehicle is continuously decelerating.
In this embodiment, the method shown in fig. 2 may be employed to determine the position information of the vehicle. Specifically, as shown in fig. 2, in step 210, in response to the various trigger conditions or the combination of the trigger conditions, the apparatus for controlling driving acquires an image including a space boundary line by using an image acquisition device (e.g., an in-vehicle camera) and acquires a detection signal of an obstacle around the space by using an in-vehicle ultrasonic sensor or an in-vehicle radar. Then, step 220 is entered, and the device for controlling driving determines the relative position of the vehicle and the parking space according to the image obtained by the image obtaining device and determines the relative position of the vehicle and the obstacle around the parking space according to the detection signal of the vehicle-mounted ultrasonic sensor or the vehicle-mounted radar.
After step 110 is performed, the method shown in FIG. 1 proceeds to step 120. In this step, the means for controlling the vehicle generates a driving trajectory of the vehicle into the space based on the position information determined in step 110.
The process of generating a driving trajectory of a vehicle into a parking space is described in detail below with reference to fig. 3 and 4, where fig. 3 is a flowchart of a method for generating a driving trajectory of a vehicle into a parking space, which is applied to the embodiment shown in fig. 1, and fig. 4 exemplarily shows the driving trajectory of a vehicle when the vehicle enters the parking space.
Illustratively, the longitudinal direction (horizontal direction in the figure) of the vehicle space (depressed area in the figure) shown in fig. 4 is parallel to the road travel direction, and the vehicle space is rectangular, the perimeter of which constitutes the boundary of the obstacle.
In the present embodiment, the driving trajectory of the vehicle exemplarily includes an S-shaped curve formed by splicing a first circular arc and a second circular arc, wherein a start point and an end point of the first circular arc are respectively P1 and P2 and have a center of O1, a start point and an end point of the second circular arc are respectively P2 and P3 and have a center of O2. In the example of fig. 4, the position at which the top corner of the rectangle that the vehicle contour passes first when entering the space is defined as the danger point C. To describe the positions of the above points, a rectangular coordinate system shown in fig. 4 is used as an example, where the origin of the coordinate system is located at the lower left corner of the parking space, and the X-axis and the Y-axis are respectively parallel and perpendicular to the longitudinal direction of the parking space.
As shown in FIG. 3, in step 310, the means for controlling driving determines the position of the vehicle when it is parked in the parking space based on the size of the vehicle body and the boundary of the parking space, and thus obtains the abscissa x of the end point of the second arc3And ordinate y3. Preferably, the end point of the second arc corresponds to the position of a reference point W on the vehicle when it is parked in the parking space, the reference point W being located in a region where the contour of the vehicle first enters the parking space, such as the right rear wheel of the vehicle shown in fig. 4 (exemplarily, the vehicle in fig. 4 backs up into the garage).
Subsequently, in step 320, the means for controlling travel determines the center O2 of the second arc. In the present embodiment, the abscissa x of the center O2O2Abscissa x from end point3Same, so that the ordinate Y of the center of the second arcO2Once determined, the radius R2 of the arc is also determined (which is equal to the distance from center O2 to end point P3). In the present embodiment, the ordinate YO2Is selected such that the radius R2 of the second arc is smaller than the sum of the length L of the vehicle body and a preset first safety value T1 and larger than the minimum turning radius of the vehicle, wherein the first safety value T1 corresponds to a redundancy amount for ensuring that the vehicle does not rub against an obstacle, which can be found based on experiments.
In step 330, the means for controlling travel determines the abscissa x of the starting point P1 of the first arc1And ordinate y1. In this embodiment, the vehicle body length and the parking space size may be selected from a range determined according to the vehicle body length and the parking space sizeThe location of the starting point P1.
The process then proceeds to step 340 where the means for controlling travel determines the location of the center O1 of the first arc. In the present embodiment, the abscissa x of the center O1O1Abscissa x from starting point P11Same, so that the ordinate Y of the center O1 of the first arcO1Once determined, the radius R1 of the arc is also determined (which is equal to the distance from center O1 to the starting point P1). On the other hand, once the circular arc radius R1 is determined, the ordinate YO1Is also determined. In the present embodiment, the ordinate YO1Is selected such that the radius R1 of the first arc segment is greater by a second safety value T2 than the distance from the center O1 to the hazard point C and the first arc segment has an intersection with the second arc segment. The second safety value T2 corresponds to a redundancy amount to ensure that the vehicle does not rub against an obstacle, which can be found based on experiments.
Preferably, in this step, the ordinate Y of center O1 may be selected according to the following iterative procedureO1：
1) An attempt is made to give a radius R1 which is greater by a second safety value T2 than the distance from center O1 to hazard point C.
2) The trial value of the ordinate of the center O1 is calculated from the ordinate of the point P1 and the trial value of the radius R1.
3) It is determined whether the first arc segment and the second arc segment have an intersection.
4) If there is an intersection, the trial value of the ordinate in step 2) is determined as the ordinate of center O1.
5) If there is no intersection, the radius R1 is increased by a preset step value to obtain a new trial value.
6) If the new trial value of the radius R1 exceeds a preset upper limit (e.g., 10 meters) or the number of iterations exceeds the upper limit, the iteration process is terminated, otherwise return to step 2).
In step 350, the means for controlling travel determines an intersection P2 of the first arc with the second arc as an end point of the first arc and a start point of the second arc.
Finally, in step 360, an S-shaped curve formed by splicing the first arc and the second arc is generated as a track on which the vehicle travels.
It should be noted that, in general, there are a plurality of driving trajectories that enable the vehicle to enter the parking space and follow the constraint conditions, and the device for controlling driving only needs to select one of the driving trajectories to complete automatic parking of the vehicle.
Fig. 5 is a flowchart of a method for automatically entering a vehicle into a space according to another embodiment of the invention.
As shown in fig. 5, the apparatus for controlling traveling determines whether a condition for triggering an automatic parking operation exists in step 510. If a trigger condition exists, step 520 is entered, otherwise, the method flow is exited. In the present embodiment, the triggering condition includes, but is not limited to, a command input by a user to stop the vehicle in a designated space, an available space exists, the vehicle speed is lower than a set speed threshold, the vehicle is continuously decelerating, and the like, and a combination of these triggering conditions.
In step 520, the device for controlling the driving generates a driving trajectory of the vehicle into the space using the method described above with reference to fig. 1 to 4.
After step 520 is completed, the method shown in FIG. 5 proceeds to step 530. In this step, the means for controlling the vehicle guides the vehicle into the parking space along the travel path determined in step 520.
Fig. 6 is a schematic block diagram of a vehicle controller according to yet another embodiment of the present invention.
The vehicle controller 60 shown in fig. 6 comprises a memory 610, a processor 620 and a computer program 630 stored on the memory 610 and executable on the processor 620, wherein the execution of the computer program 630 enables the method for automatically parking a vehicle into a parking space as described above with reference to fig. 5.
Fig. 7 is a schematic block diagram of an apparatus for automatically entering a vehicle into a space according to still another embodiment of the present invention.
The apparatus 70 shown in fig. 7 includes a first module 710, a second module 720, and a third module 730. In the present embodiment, the first module 710 is configured to determine whether a condition exists that triggers an automatic parking operation; a second module 720 is configured to generate a driving trajectory of the vehicle entering the parking space by using the method for automatically driving the vehicle into the parking space described in fig. 5 if a condition triggering an automatic parking operation exists; and a third module 730 for guiding the vehicle to enter the parking space along the travel track if the corresponding travel track can be generated.
According to a further aspect of the invention, a computer-readable storage medium is also provided, on which a computer program is stored which, when being executed by a processor, can carry out the method for automatically entering a vehicle into a parking space as described above with reference to fig. 5.
The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present technology and its particular application and to thereby enable those skilled in the art to make and utilize the invention. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover all aspects of the invention or to limit the invention to the precise form disclosed.
In view of the foregoing, the scope of the present disclosure is to be determined by the following claims.

Claims (7)

1. A method for determining a trajectory of a vehicle into a space, comprising the steps of:
determining position information of a vehicle, wherein the position information comprises relative positions of the vehicle, a parking space and obstacles around the parking space; and
generating a driving track of the vehicle entering the parking space according to the position information, wherein the driving track comprises a plurality of sections of circular arcs,
wherein the longitudinal direction of the parking spaces is parallel to the road advancing direction,
wherein the driving track comprises an S-shaped curve formed by splicing a first circular arc and a second circular arc,
the parking space is rectangular, the periphery of the rectangle forms the boundary of the parking space, and the driving track of the vehicle entering the parking space is generated according to the following mode:
determining the position of the vehicle when the vehicle is parked in the parking space according to the size of the vehicle body and the boundary of the parking space to obtain the position of the end point of the second section of circular arc;
determining the position of the center of a second section of circular arc, wherein the abscissa of the center of the second section of circular arc is the same as the abscissa of the end point of the second section of circular arc, and the ordinate of the center of the second section of circular arc is selected so that the radius of the second section of circular arc is smaller than the sum of the length of the vehicle body and a preset first safety value and larger than the minimum turning radius of the vehicle;
determining the position of a starting point of a first section of circular arc, wherein the position of the starting point of the first section of circular arc is selected from a range determined according to the length of a vehicle body and the size of a parking space;
determining the position of the center of a first section of circular arc, wherein the abscissa of the center of the first section of circular arc is the same as the abscissa of the starting point of the first section of circular arc, the ordinate of the center of the first section of circular arc is selected to enable the radius of the first section of circular arc to be larger than the distance from the center of the circular arc to a danger point by a second safety value, the first section of circular arc and the second section of circular arc have an intersection point, and the danger point is the position where the vertex angle of a rectangle which is passed through first when the vehicle contour drives into a parking space is located; and
determining the intersection point of the first section of circular arc and the second section of circular arc as the end point of the first section of circular arc and the starting point of the second section of circular arc,
the transverse axis of the coordinate system is parallel to the longitudinal direction of the parking space, and the longitudinal axis of the coordinate system is perpendicular to the longitudinal direction of the parking space.
2. The method of claim 1, wherein determining the location information of the vehicle comprises:
acquiring an image containing a parking space boundary line by using an image acquisition device and acquiring a detection signal of an obstacle around a parking space by using a vehicle-mounted ultrasonic sensor or a vehicle-mounted radar; and
and determining the relative position of the vehicle and the parking space according to the image obtained by the image acquisition device and determining the relative position of the vehicle and the obstacle around the parking space according to the detection signal of the vehicle-mounted ultrasonic sensor or the vehicle-mounted radar.
3. The method of claim 1, wherein the end point of the second arc corresponds to a location of a reference point on the vehicle when parked within the space, the reference point being located in an area where the contour of the vehicle first enters the space.
4. A method for automatically entering a vehicle into a parking space, comprising the steps of:
determining whether a trigger condition for starting an operation of automatically driving the vehicle into the parking space exists;
if the triggering condition exists, generating a driving track of the vehicle entering the parking space by using the method according to any one of claims 1-3; and
and if the corresponding driving track can be generated, guiding the vehicle to enter the parking space along the driving track.
5. A vehicle controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the program is executed to implement the steps of:
determining whether a trigger condition for starting an operation of automatically driving the vehicle into the parking space exists;
if the triggering condition exists, generating a driving track of the vehicle entering the parking space by using the method according to any one of claims 1-3; and
and if the corresponding driving track can be generated, guiding the vehicle to enter the parking space along the driving track.
6. An apparatus for automatically entering a vehicle into a parking space, comprising:
the system comprises a first module, a second module and a third module, wherein the first module is used for determining whether a trigger condition for starting the operation of enabling a vehicle to automatically drive into a parking space exists;
a second module, configured to generate a driving trajectory of the vehicle into the space using the method according to any one of claims 1 to 3 if the trigger condition exists; and
and the third module is used for guiding the vehicle to enter the parking space along the driving track if the corresponding driving track can be generated.
7. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, performing the steps of:
determining whether a trigger condition for starting an operation of automatically driving the vehicle into the parking space exists;
if the triggering condition exists, generating a driving track of the vehicle entering the parking space by using the method according to any one of claims 1-3; and
and if the corresponding driving track can be generated, guiding the vehicle to enter the parking space along the driving track.
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PCT/CN2018/075483 WO2018233298A1 (en) 2017-06-22 2018-02-06 Method and device enabling automatic driving of vehicle into parking space

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CN111196271A (en) * 2020-01-21 2020-05-26 北京百度网讯科技有限公司 Automatic parking method, device, equipment and storage medium

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