CN109703552A - The method, apparatus and equipment of autonomous parking, computer readable storage medium - Google Patents
The method, apparatus and equipment of autonomous parking, computer readable storage medium Download PDFInfo
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- CN109703552A CN109703552A CN201811626473.7A CN201811626473A CN109703552A CN 109703552 A CN109703552 A CN 109703552A CN 201811626473 A CN201811626473 A CN 201811626473A CN 109703552 A CN109703552 A CN 109703552A
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- vehicle
- safety zone
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The embodiment of the present application proposes the method, apparatus and equipment, computer readable storage medium of a kind of autonomous parking.Wherein, the method for autonomous parking includes: to establish the safety zone parked according to the current state of parking of vehicle；Whether there are obstacles in detection safety zone；In the case where there is barrier in safe zone, control vehicle adjusts park state or stopping.The method of the autonomous parking can obtain accurate detection as a result, making correct decision according to the testing result in turn, so that autonomous parking process is safer.
Description
Technical field
This application involves the method, apparatus and equipment of automatic Pilot field more particularly to a kind of autonomous parking and calculating
Machine readable storage medium storing program for executing.
Background technique
During the autonomous parking of vehicle, need to periphery barrier (such as parking lot column, wall and/or vehicle
Deng) judged, then by distance measurement, vehicle intelligent collision is adjusted in time when barrier and vehicle distances are too close.
Autonomous parking mode in the prior art mainly has following three kinds:
The first, detects remaining vehicle by the position of real-time perception barrier to each scene regulation minimum range
Distance judges whether vehicle takes brake to stop acting；
In this kind of mode, need to provide each movement for the process of parking the minimal distance requirement of barrier, also,
Due to the current position of vehicle, so that each corresponding minimum range is different, such rule disunity is easy to cause decision to miss
Sentence, is unable to judge accurately and whether needs that brake is taken to stop acting.
Second, to vehicle body plus circle envelope (more 30cm generally more each than vehicle body length and width), so that driving safety region is formed,
To confirm being perfectly safe for vehicle.
Increased envelope makes vehicle that can not stop to influence final products target into lesser parking stall；Also, vehicle backward
During, vehicle needs to keep relatively large distance with inside corner, while needing still to keep relatively large distance with outside corner, causes
Need constantly to adjust vehicle during parking, process is complicated.
The third passes through envelope+detection range while decision in conjunction with the first and second.
Due to combining above-mentioned two methods, leads to tactful obscurity boundary, lead to policy conflict, vehicle is likely to be stuck in
Autonomous parking is realized with can not be successfully in some position.
Therefore, need it is a kind of being capable of the accurate judgement method of autonomous parking that whether needs that brake is taken to stop movement.
Summary of the invention
The embodiment of the present application provides the method, apparatus and equipment and and computer-readable storage medium of a kind of autonomous parking
Matter, to solve one or more technical problems in the prior art.
In a first aspect, the embodiment of the present application provides a kind of method of autonomous parking, comprising: park according to vehicle is current
State establishes the safety zone parked；Detect in the safety zone that whether there are obstacles；Exist in the safety zone
In the case where the barrier, control vehicle adjusts park state or stopping.
In a kind of possible embodiment, the park state current according to vehicle is established the safety zone parked and is wrapped
It includes: judging the vehicle currently whether in steering state；According to the vehicle currently whether in steering state foundation
The safety zone.
It is described that whether institute is currently established in the steering state according to the vehicle in a kind of possible embodiment
Stating safety zone includes: to obtain the vehicle body of presently described vehicle in the case where the vehicle is currently at the steering state
Outer surface each point driving trace in the given time, wherein the system that the predetermined time is greater than or equal to the vehicle
Delay time, the system delay time are that the movement for responding the testing result is come into effect to the vehicle from the detection
At the end of time；The safety zone is established using the driving trace of the outer surface each point of the vehicle body.
In a kind of possible embodiment, described in the driving trace foundation of the outer surface each point using the vehicle body
Safety zone includes: to obtain the vehicle current turning center and steering angle；The each point is obtained in the turning
The heart is the center of circle, with steering angle rotation, the track that the predetermined time described in predetermined angular speed downward driving is formed.
It is described that whether institute is currently established in the steering state according to the vehicle in a kind of possible embodiment
Stating safety zone includes: to obtain the traveling of presently described vehicle in the case where the vehicle is currently at the steering state
Speed and position；According to the area meter of the vehicle body of the current travel speed, the position, predetermined time and the vehicle
Calculation obtains the safety zone, wherein the predetermined time is greater than or equal to the system delay time of the vehicle, the system
Delay time is the time come into effect from the detection to the vehicle at the end of the movement for responding the testing result.
Second aspect, the embodiment of the present application provide a kind of device of autonomous parking, which includes: to establish unit；With
In the safety zone parked according to the current state foundation of parking of vehicle；Detection unit；It is for detecting in the safety zone
It is no that there are barriers；Control unit, for, there are in the case where the barrier, control vehicle to adjust in the safety zone
State of parking or parking.
In a kind of possible embodiment, the unit of establishing includes: judgment module, for judging that the vehicle is current
Whether steering state is in；Module is established, establishes the peace for currently whether being in the steering state according to the vehicle
It is region-wide.
In a kind of possible embodiment, the module of establishing includes: the first acquisition submodule, current in the vehicle
In the case where the steering state, first acquisition submodule is used to obtain the outer surface of the vehicle body of presently described vehicle
The driving trace of each point in the given time, wherein the predetermined time is greater than or equal to the system delay time of the vehicle,
The system delay time is the time at the end of coming into effect to the vehicle result for responding the detection from the detection；
Setting up submodule establishes the safety zone using the driving trace of the outer surface each point of the vehicle body.
In a kind of possible embodiment, first acquisition submodule is also used to: obtaining current turn of the vehicle
Curved center and steering angle；The each point is obtained using the turning center as the center of circle, with steering angle rotation, predetermined
The track that predetermined time described in angular speed downward driving is formed.
In a kind of possible embodiment, the module of establishing includes: the second acquisition submodule, in the vehicle
In the case where being currently at the steering state, travel speed and the position of presently described vehicle are obtained；Computational submodule is used for
It is obtained according to the areal calculation of the vehicle body of the current travel speed, the position, predetermined time and the vehicle described
Safety zone, wherein the predetermined time is greater than or equal to the system delay time of the vehicle, and the system delay time is
From the time detected at the end of coming into effect to the vehicle result for responding the detection.
The third aspect, the embodiment of the present application provide a kind of equipment of autonomous parking, and the function of above-mentioned apparatus can pass through
Hardware realization can also execute corresponding software realization by hardware.Above-mentioned hardware or software include it is one or more with it is above-mentioned
The corresponding module of function.
It include processor and memory in the structure of above equipment in a possible design, above-mentioned memory is used for
Storage supports above equipment to execute the program of the method for above-mentioned autonomous parking, and above-mentioned processor is configurable for executing above-mentioned deposit
The program stored in reservoir.Above-mentioned apparatus can also include communication interface, be used for and other equipment or communication.
Fourth aspect, the embodiment of the present application provides a kind of computer readable storage medium, for storing autonomous parking
Computer software instructions used in device comprising for executing program involved in the method for above-mentioned autonomous parking.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that the method for building up is being parked
Each state establishes corresponding safety zone, subsequent accurately to sentence as long as whether there are obstacles in detection safety zone
It is disconnected whether to need that brake is taken to stop acting, it ensure that safety of vehicle during autonomous parking.Also, corresponding inspection in this method
Gauge be then it is identical, this avoid situation is judged by accident caused by regular disunity, further ensure and do according to testing result
The correctness of decision out.
Another technical solution in above-mentioned technical proposal have the following advantages that or the utility model has the advantages that this method according to vehicle
Current state establishes the safety zone parked, and for the different conditions of vehicle, corresponding safety zone is different, in this way without in vehicle
Increase an envelope (more definite values more each than the length and width of vehicle body) around body, the problem for the process complexity that caused will not park,
It ensure that the process of parking is simpler efficiently.
Another technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that the autonomous parking method
In, in the case where occurring barrier in detecting safety zone, then controls vehicle and adjust park state or parking, to prevent
Vehicle bumps against barrier, further ensures safety of vehicle during autonomous parking.Specifically, if vehicle is turning to rank
Section, then can adjust the state of parking of vehicle by adjusting the steering angle of vehicle；If straight trip of the vehicle in Hui Zhenghou is moved backward
Stage can control Vehicular turn then to adjust the state of parking of vehicle.
Another technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that should exist from method of parking is gone out
During establishing safety zone, it is only necessary to consider the current state of vehicle, is not required to situations such as considering the barrier around vehicle body,
The establishment process of the safety zone is simpler.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the application is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings are depicted only according to the application
Disclosed some embodiments, and should not be taken as the limitation to the application range.
Fig. 1 shows the flow chart of the method for the autonomous parking of the embodiment according to the application；
Fig. 2 shows the flow charts according to the method for the autonomous parking of another embodiment of the application；
Fig. 3 shows the vehicle according to another embodiment of the application in current structure chart；
Fig. 4 shows the current safety zone of vehicle of Fig. 3；
Fig. 5 shows the structural block diagram of the device of the autonomous parking of another embodiment according to the application；
Fig. 6 shows the structural block diagram of the device of the autonomous parking of another embodiment according to the application；
Fig. 7 shows the structural block diagram of the equipment of the autonomous parking of another embodiment according to the application.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the application, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
Fig. 1 shows the flow chart of the method for the autonomous parking according to one embodiment of the application.As shown in Figure 1, the autonomous pool
The method of vehicle includes:
Step S110, according to vehicle, current state of parking establishes the safety zone parked；
Step S120, detects in the safety zone that whether there are obstacles；
Step S130, there are in the case where the barrier in the safety zone, control vehicle adjusts state of parking
Or stop.
The method for building up of the embodiment of the present application establishes corresponding safety zone in each state parked, as long as subsequent inspection
Survey safety zone in whether there are obstacles can accurate judgement whether need that brake is taken to stop acting, ensure that vehicle autonomous
Safety during parking.Also, corresponding detected rule is identical in this method, and this avoid regular disunities to cause
Erroneous judgement situation, further ensure the correctness for the decision made according to testing result.
Also, this method establishes the safety zone parked according to the current state of vehicle, right for the different conditions of vehicle
It the safety zone answered can be different.For example, corresponding safety zone is to utilize steering angle etc. in vehicle in steering state
The safety zone including arc boundary being calculated, and in the state that vehicle straight trip retreats, the safety zone of vehicle includes
The safety zone of straight border.
This method is not necessarily to increase an envelope (more definite values more each than the length and width of vehicle body) around vehicle body, not will lead to
Process complexity of parking problem, ensure that the process of parking it is simpler efficiently.
In addition, in the case where occurring barrier in detecting safety zone, then being controlled in the autonomous parking method of the application
Vehicle processed adjusts park state or parking and further ensures vehicle in autonomous parking mistake to prevent vehicle from bumping against barrier
Safety in journey.Specifically, if vehicle can adjust the pool of vehicle in the stage of steering by adjusting the steering angle of vehicle
Car state；If straight trip of the vehicle in Hui Zhenghou is moved backward the stage, Vehicular turn can control to adjust the state of parking of vehicle.
It should be noted that " state of parking of vehicle " of the application may include vehicle in parking process in each time
The state of point.Such as at some time point, which is likely to be at steering state, forward travel state or retreats shape
State etc..Wherein, steering state may include the steering angle etc. of steering wheel, forward travel state may include the distance for needing to advance,
Speed, acceleration etc., fallback state may include distance, the speed, acceleration etc. for needing to retreat.
Further, the application from go out park method during establishing safety zone, it is only necessary to consider that vehicle is worked as
Preceding state is not required to situations such as considering the barrier around vehicle body, and the establishment process of the safety zone is simpler.
In one possible implementation, as shown in Fig. 2, the step S110 includes:
Whether step S111 judges the vehicle currently in steering state；
Whether step S112 is currently in the steering state according to the vehicle and establishes the safety zone.
Vehicle can be divided into steering procedure and non-steering procedure during autonomous parking, for the two processes
For, the process of the foundation of safety zone is less identical, therefore, in this method according to vehicle currently whether in steering state come
Safety zone is established, more rationally, establishing for safety zone is more efficient.
Specifically, the step S112 includes:
Step S1121 obtains the vehicle of presently described vehicle in the case where the vehicle is currently at the steering state
The driving trace of the outer surface each point of body in the given time.Wherein, the predetermined time can be greater than or equal to the vehicle
System delay time, the system delay time can respond the detection to come into effect from the detection to the vehicle
As a result the time at the end of movement.In a kind of specific embodiment, above system delay time is 1.5s.In the application is
System delay time is not limited to 1.5s, can be adjusted according to the actual conditions of vehicle.
Step S1122 establishes the safety zone using the driving trace of the outer surface each point of the vehicle body.
In above-mentioned method, when vehicle is currently at steering state, peace is established according to the mode for calculating boundary position
Entire area, process can be more complicated, and the efficiency that safety zone is established is also low.In order to obtain peace at this time in a manner of efficiently simple
Entire area, as long as obtaining the driving trace of the outer surface each point of vehicle body in the given time, these tracks can form safety
Region.The track for obtaining each point can be realized by the method for analog simulation.
More specifically, above-mentioned steps S1121 includes:
Step S1123, the vehicle current turning center and steering angle are obtained；
Step S1124, each point is obtained using the turning center as the center of circle, with steering angle rotation, predetermined
The track that predetermined time described in angular speed downward driving is formed.
According to Ackermam theorem, vehicle is to guarantee vehicle pure rolling, and vehicle is rotated around instantaneous turning center O, in analysis chart 3
Simple geometrical relationship can obtain,
R=hm·gmα。
As shown in figure 3, turning center O point is on the extended line of rear axle, and with a distance from rear axle M point
Wherein,
The meaning of parameters of above-mentioned formula may refer to table 1.
So far, instantaneous turning center O point can be found out in the position of vehicle coordinate.
Vehicle body outside surface is cut into infinite a point, emulates each point with current steering angle, the pre- timing of present speed traveling
Between track, shown in Fig. 4, no several trajectory lines form a safety zone 01.It is autonomous to moor when barrier appears in the region
Vehicle vehicle is stopped in time to stop, and makes corresponding adjustment.
Meaning of parameters in Fig. 3 and above formula may refer to the example in table 1.
Table 1
In alternatively possible embodiment, step S112 includes:
Step S1125 obtains the row of presently described vehicle in the case where the vehicle is currently at the steering state
Sail speed and position；
Step S1126, according to the vehicle body of the current travel speed, the position, predetermined time and the vehicle
Areal calculation obtain the safety zone, wherein the predetermined time be greater than or equal to the vehicle system delay time,
The system delay time is at the end of coming into effect to the vehicle movement for responding the testing result from the detection
Time.
If vehicle is currently in the case where keeping straight on process, that is, non-steering state, the calculating process of safety zone is relatively simple
It is single.Without obtaining the motion profile of the multiple points of vehicle body outside surface.According to the current travel speed, the position, pre- timing
Between and the vehicle vehicle body area, the safety zone can be calculated.
It certainly, in the specific application process, can also be similar with steering procedure when vehicle is in the process of straight trip.It obtains
The motion profile of the multiple points of vehicle body outside surface forms safety zone using these motion profiles.
Fig. 5 shows the structural block diagram of the device of the autonomous parking of another embodiment according to the application.As shown in figure 5, should
The device of autonomous parking includes:
Unit 10 is established, for establishing the safety zone parked according to the current state of parking of vehicle；
Detection unit 20, for detecting, whether there are obstacles in the safety zone；
Control unit 30, for, there are in the case where the barrier, control vehicle adjustment to be moored in the safety zone
Car state or parking.
In the device of the autonomous parking of the application, unit is established according to the current state of parking of vehicle and establishes the safety parked
Region, it is subsequent as long as in detection unit detection safety zone as long as whether there are obstacles can accurate judgement whether need to take brake
Stop acting, ensure that safety of vehicle during autonomous parking.Also, the device of the application, in each state parked,
Corresponding detected rule be it is identical, this avoid judging situation caused by regular disunity by accident, and then ensure that according to detection
As a result the correctness for the decision made.
Also, the device establishes the safety zone parked according to the current state of vehicle, right for the different conditions of vehicle
The safety zone answered is different, will not without increasing an envelope (more definite values more each than the length and width of vehicle body) around vehicle body
The problem of caused process complexity of parking ensure that the process of parking is simpler efficiently.
In addition, in the case where occurring barrier in detecting safety zone, then being controlled in the autonomous parking device of the application
Unit control vehicle processed adjusts park state or parking, to prevent vehicle from bumping against barrier, further ensures vehicle certainly
Lead the safety during parking.Specifically, if vehicle can adjust in the stage of steering by adjusting the steering angle of vehicle
The state of parking of vehicle；If straight trip of the vehicle in Hui Zhenghou is moved backward the stage, Vehicular turn can control to adjust the pool of vehicle
Car state.
Further, the application from go out parking apparatus during establishing safety zone, it is only necessary to consider that vehicle is worked as
Preceding state is not required to situations such as considering the barrier around vehicle body, and the establishment process of the safety zone is simpler.
In one possible implementation, as shown in fig. 6, the unit 10 of establishing includes:
Judgment module 11, for judging the vehicle currently whether in steering state；
Module 12 is established, establishes the safety zone for currently whether being in the steering state according to the vehicle.
Vehicle can be divided into steering procedure and non-steering procedure during autonomous parking, for the two processes
For, the process of the foundation of safety zone is less identical, therefore, establishes whether unit is currently according to vehicle in the device
Steering state establishes safety zone, and more rationally, establishing for safety zone is more efficient.
Specifically, the module 12 of establishing includes:
First acquisition submodule, in the case where the vehicle is currently at the steering state, described first obtains son
Module is used to obtain the driving trace of the outer surface each point of the vehicle body of presently described vehicle in the given time, wherein described pre-
The system delay time fixed time more than or equal to the vehicle, the system delay time be come into effect from the detection to
The vehicle responds the time at the end of the result of the detection；
Setting up submodule establishes the safety zone using the driving trace of the outer surface each point of the vehicle body.
In above-mentioned device, when vehicle is currently at steering state, peace is established according to the mode for calculating boundary position
Entire area, process can be more complicated, and the efficiency that safety zone is established is also low, in order to obtain peace at this time in a manner of efficiently simple
Entire area, as long as obtaining the driving trace of the outer surface each point of vehicle body in the given time, these tracks can form safety
Region.The track for obtaining each point can be realized by analog simulation.
More specifically, first acquisition submodule is also used to: being obtained the current turning center of the vehicle and is turned
To angle；The each point is obtained using the turning center as the center of circle, with steering angle rotation, in predetermined angular speed downward driving
The track that the predetermined time is formed.
Turning center and steering angle is calculated according to Ackermam theorem in first acquisition submodule, it is subsequent further according to
Turning center and steering angle obtain the motion profile of each point.Specific process by the agency of mistake above, details are not described herein again
?.
In alternatively possible embodiment, the module of establishing includes:
Second acquisition submodule, for obtaining current institute in the case where the vehicle is currently at the steering state
State travel speed and the position of vehicle；
Computational submodule, for according to the current travel speed, the position, predetermined time and the vehicle
The areal calculation of vehicle body obtains the safety zone, wherein the predetermined time is greater than or equal to the system delay of the vehicle
Time, the system delay time are at the end of coming into effect to the vehicle result for responding the detection from the detection
Time.
For vehicle currently in the case where keeping straight on process, that is, non-steering state, the calculating process of safety zone is relatively simple
It is single, so without the motion profile for obtaining the multiple points of vehicle body outside surface, as long as according to the current travel speed, institute's rheme
It sets, the areal calculation of the vehicle body of predetermined time and the vehicle obtains the safety zone.
Certainly, in the specific application process, can also be the same with steering procedure when vehicle is in the process of straight trip, it obtains
The motion profile of the multiple points of vehicle body outside surface, these motion profiles form safety zone.
Fig. 7 shows the structural block diagram of the equipment of the autonomous parking of another embodiment according to the application.On as shown in fig. 7,
Stating generating device includes memory 40 and processor 50, wherein memory 40 is for storing one or more programs, when above-mentioned one
When a or multiple programs are executed by said one or multiple processors, so that said one or multiple processors are realized as any
Above-mentioned generation method.Also, above-mentioned processor and above-mentioned memory all can be one or more, art technology
Personnel can select appropriate number of processor and memory according to the actual situation.
The equipment further include:
Communication interface 60 carries out data interaction for being communicated with external device.
Memory 40 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 40, processor 50 and the independent realization of communication interface 60, memory 40, processor 50 and communication are connect
Mouth 60 can be connected with each other by bus and complete mutual communication.Above-mentioned bus can be industry standard architecture
(ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component) bus or extended industry-standard architecture (EISA, Extended Industry Standard
Component) bus etc..Above-mentioned bus can be divided into address bus, data/address bus, control bus etc..For convenient for expression, Fig. 7
In only indicated with a thick line, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 40, processor 50 and communication interface 60 are integrated in chip piece
On, then memory 40, processor 50 and communication interface 60 can complete mutual communication by internal interface.
The embodiment of the present application provides a kind of computer readable storage medium, is stored with computer program, the program quilt
Processor realizes any above-mentioned method in above-described embodiment when executing.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present application, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print above procedure on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain above procedure, is then stored in computer storage.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, above-mentioned program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.Above-mentioned integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.Above-mentioned storage medium can be read-only memory, disk or CD etc..
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can readily occur in its various change or replacement,
These should all cover within the scope of protection of this application.Therefore, the protection scope of the application should be with the guarantor of the claim
It protects subject to range.
Claims (12)
1. a kind of method of autonomous parking characterized by comprising
According to vehicle, current state of parking establishes the safety zone parked；
Detect in the safety zone that whether there are obstacles；
There are in the case where the barrier in the safety zone, control vehicle adjusts park state or stopping.
2. the method according to claim 1, wherein the park state current according to vehicle is established and is parked
Safety zone includes:
Judge the vehicle currently whether in steering state；
It currently whether is in the steering state according to the vehicle and establishes the safety zone.
3. according to the method described in claim 2, it is characterized in that, whether described be currently in the steering according to the vehicle
State establishes the safety zone
In the case where the vehicle is currently at the steering state, the outer surface each point of the vehicle body of presently described vehicle is obtained
Driving trace in the given time, wherein the predetermined time is greater than or equal to the system delay time of the vehicle, described
System delay time is the time come into effect from the detection to the vehicle at the end of the movement for responding the testing result；
The safety zone is established using the driving trace of the outer surface each point of the vehicle body.
4. according to the method described in claim 3, it is characterized in that, described be currently at the steering state in the vehicle
In the case of, obtaining the driving trace of the outer surface each point of the vehicle body of presently described vehicle in the given time includes:
Obtain the vehicle current turning center and steering angle；
The each point is obtained using the turning center as the center of circle, with steering angle rotation, in predetermined angular speed downward driving institute
State the track of predetermined time formation.
5. according to the method described in claim 2, it is characterized in that, whether described be currently in the steering according to the vehicle
State establishes the safety zone
In the case where the vehicle is currently at the steering state, travel speed and the position of presently described vehicle are obtained；
It is obtained according to the areal calculation of the vehicle body of the current travel speed, the position, predetermined time and the vehicle
The safety zone, wherein the predetermined time is greater than or equal to the system delay time of the vehicle, when the system delay
Between to come into effect to the vehicle time at the end of the movement for responding the testing result from the detection.
6. a kind of device of autonomous parking characterized by comprising
Unit is established, for establishing the safety zone parked according to the current state of parking of vehicle；
Detection unit, for detecting, whether there are obstacles in the safety zone；
Control unit, for, there are in the case where the barrier, control vehicle to adjust state of parking in the safety zone
Or parking.
7. device according to claim 6, which is characterized in that the unit of establishing includes:
Judgment module, for judging the vehicle currently whether in steering state；
Module is established, establishes the safety zone for currently whether being in the steering state according to the vehicle.
8. device according to claim 7, which is characterized in that the module of establishing includes:
First acquisition submodule, in the case where the vehicle is currently at the steering state, first acquisition submodule
For obtaining the outer surface each point driving trace in the given time of the vehicle body of presently described vehicle, wherein the pre- timing
Between be greater than or equal to the vehicle system delay time, the system delay time be from it is described detection come into effect to described
Vehicle responds the time at the end of the result of the detection；
Setting up submodule establishes the safety zone using the driving trace of the outer surface each point of the vehicle body.
9. device according to claim 8, which is characterized in that first acquisition submodule is also used to:
Obtain the vehicle current turning center and steering angle；
The each point is obtained using the turning center as the center of circle, with steering angle rotation, in predetermined angular speed downward driving institute
State the track of predetermined time formation.
10. device according to claim 7, which is characterized in that the module of establishing includes:
Second acquisition submodule, for obtaining presently described vehicle in the case where the vehicle is currently at the steering state
Travel speed and position；
Computational submodule, for the vehicle body according to the current travel speed, the position, predetermined time and the vehicle
Areal calculation obtain the safety zone, wherein the predetermined time be greater than or equal to the vehicle system delay time,
The system delay time is the time at the end of coming into effect to the vehicle result for responding the detection from the detection.
11. a kind of equipment of autonomous parking, which is characterized in that the equipment includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any one of claims 1 to 5.
12. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any one of claims 1 to 5 is realized when row.
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| CN202110713007.8A CN113320526B (en) | 2018-12-28 | 2018-12-28 | Method, device and equipment for autonomous parking and computer readable storage medium |
| CN201811626473.7A CN109703552B (en) | 2018-12-28 | 2018-12-28 | Method, device and equipment for autonomous parking and computer readable storage medium |
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| CN201811626473.7A CN109703552B (en) | 2018-12-28 | 2018-12-28 | Method, device and equipment for autonomous parking and computer readable storage medium |
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| CN202110713007.8A Division CN113320526B (en) | 2018-12-28 | 2018-12-28 | Method, device and equipment for autonomous parking and computer readable storage medium |
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| CN109703552A true CN109703552A (en) | 2019-05-03 |
| CN109703552B CN109703552B (en) | 2021-06-22 |
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Also Published As
| Publication number | Publication date |
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| CN113320526A (en) | 2021-08-31 |
| CN109703552B (en) | 2021-06-22 |
| CN113320526B (en) | 2022-08-30 |
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