CN109866759B - Automatic parking method - Google Patents
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- CN109866759B CN109866759B CN201910104471.XA CN201910104471A CN109866759B CN 109866759 B CN109866759 B CN 109866759B CN 201910104471 A CN201910104471 A CN 201910104471A CN 109866759 B CN109866759 B CN 109866759B
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Abstract
The invention discloses an automatic parking method, which comprises the following steps: starting an automatic parking state, acquiring vehicle pose information by a driving computer, loading pre-measured parking space information, and judging the relative position relation between the initial position of the vehicle and the parking space; sending a forward command according to the judgment result to enable the vehicle to arrive at the first pre-aiming point for parking, then sending the forward command again to enable the vehicle to arrive at the second pre-aiming point for parking, planning a path for backing and warehousing to a third pre-aiming point by a driving computer, sending a reverse command, backing to a place in front of a parking space for parking, judging whether the vehicle can be poured into the parking space, and if so, parking when the vehicle arrives at the third pre-aiming point; if not, the driving computer sends a forward command, adjusts the pose of the vehicle to enable the vehicle to travel to the second pre-aiming point again, and stops the vehicle to plan a reverse path of the third pre-aiming point again until the judgment is yes. The invention can realize automatic parking in the left side and the right side of the vehicle running direction, and has strong expandability and high flexibility.
Description
Technical Field
The invention relates to the field of automobile parking, in particular to an automatic parking method.
Background
The existing unmanned automatic parking technology is comprehensively completed by an environment sensing system (comprising a look-around camera, a millimeter wave radar, a laser radar, an ultrasonic radar and the like), a map navigation system, a real-time positioning system, a central decision system and a communication system. The technology can automatically identify the information of the obstacles and the parking spaces, and can realize the automatic parking function or the automatic parking function in a more complex environment through the fusion processing of various data.
The specific process is roughly as follows:
when the communication module receives a parking instruction, a high-precision map of the current position is imported into a map navigation system, and the parking instruction is sent to a central decision-making system; the environment perception fusion module receives perception data of each sensor on the environment and fuses the original data to form detection data of vehicles, people, traffic signs and feature points in the parking lot; the real-time positioning system positions the vehicle through the fused data and transmits the real-time positioning information of the vehicle to the map navigation system; after acquiring the positioning information of the current vehicle, the map navigation system completes the path planning of the vehicle by combining a high-precision map; the central decision-making system controls the vehicle to automatically drive according to the planned route, acquires sensing data of the environment sensing system on the surrounding environment of the vehicle in real time in the automatic driving process, and automatically plans the route to avoid obstacles if the vehicle encounters obstacles; if the environment sensing system finds that a parking space suitable for parking is found in the automatic driving process, the central decision-making system controls the vehicle to park, and if the environment sensing system detects that the relative motion track of the vehicle intersects with the vehicle on the driving path of the vehicle in the parking process, the central decision-making system controls the vehicle to actively avoid; when the vehicle finishes the parking behavior, the central decision system sends the parking completion and the position information of the parking space to the communication module.
Although unmanned vehicles all have an automatic parking function at present, most of automatic parking methods adopted by vehicles are realized based on fusion processing of data from multiple sensors, such as laser radar, cameras, millimeter wave radar, ultrasonic radar, high-precision maps and the like. The process is complicated, the system structure is complex, the existing automobile products are difficult to integrate in limited time, and the automatic parking function is realized. At the same time, the fusion process of large amounts of data requires the vehicle itself to have a powerful processor, and the use of a processor and multiple sensors means higher manufacturing costs for the technology.
Therefore, the popularization of the prior art is subject to further improvement and development.
Disclosure of Invention
In view of the above-mentioned limitations of the prior art, the present invention aims to provide an automatic parking method, which simplifies the data processing process and reduces the manufacturing cost of the vehicle with the automatic parking function.
In order to solve the technical problem, the scheme of the invention comprises the following steps:
an automatic parking method, comprising:
starting an automatic parking state, acquiring vehicle pose information by a driving computer, loading pre-measured parking space information, and judging the relative position relation between the initial position of the vehicle and the parking space; sending a forward command according to the judgment result to enable the vehicle to arrive at the first pre-aiming point for parking, then sending the forward command again to enable the vehicle to arrive at the second pre-aiming point for parking, planning a path for backing and warehousing to a third pre-aiming point by a driving computer, backing to a place in front of a parking space for parking, judging whether the vehicle can be poured into the parking space, and if so, parking when the vehicle arrives at the third pre-aiming point; if not, the driving computer sends a forward command, adjusts the pose of the vehicle to enable the vehicle to travel to the second pre-aiming point again, and stops the vehicle to plan a reverse path of the third pre-aiming point again until the judgment is yes.
The automatic parking method comprises the following control steps in the automatic parking process:
a vehicle control module of the traveling computer receives a control instruction, controls the steering wheel to rotate a target corner, judges whether to shift gears or not, and if not, continues to adjust the target corner of the steering wheel;
if so, judging whether the target gear is a P gear; if the gear is not the P gear, a brake instruction is sent, then a target gear switching instruction is sent, then a speed control instruction is sent to a vehicle body bottom layer control unit, and a vehicle control module of a traveling computer continues to receive the control instruction;
if the gear is P, a brake instruction is sent and then a gear P switching instruction is sent, when the vehicle is in a gear P state, a brake releasing instruction is sent, a steering wheel returning instruction is sent, and the vehicle stops.
The automatic parking method comprises the following specific steps:
A. the method comprises the steps that positioning information and parking space orientation angles of four vertexes of a target parking space are measured and recorded in advance through a high-precision positioning device, and meanwhile, the relative position relation between the current position of a vehicle and the parking space is judged;
B. a communication data processing module of the traveling computer continuously obtains the current positioning and course information of the vehicle body from the high-precision positioning device and transmits the analyzed real-time vehicle body pose information to a path planning module;
C. loading parking space information measured in advance, and giving pose information of a first pre-aiming point in the parking process;
D. after receiving the control command, a vehicle control module of the driving computer sends gear, accelerator, brake and steering control commands to the bottom layer of the vehicle, so that the vehicle automatically drives to a first pre-aiming point in front of the parking space to park;
E. when the vehicle is stopped stably, a path planning module of a driving computer plans a route in real time according to a second pre-aiming point so that the vehicle drives to the pre-aiming point, at the moment, the vehicle has enough reversing distance from a parking space in front of the parking space, and the heading direction of the vehicle and the direction of the parking space form a certain angle;
F. giving a third pre-aiming point in the parking process, continuing to plan a reversing route by the path planning module, and controlling the vehicle reversing process by the vehicle control module; the path planning module adjusts the vehicle posture in real time according to the distance relation between the current position of the vehicle and the left side and the right side of the parking space, and corrects the deviation; when the vehicle is driven to a certain position in front of the parking space, the vehicle is parked and whether the vehicle meets the warehousing condition is judged; continuing the step J if the condition is not met, and returning to execute the step E if the condition is not met;
J. the vehicle continues backing and warehousing, the posture of the vehicle body is continuously adjusted at the same time, when the vehicle is parked at the third pre-aiming point position, whether the current position meets the parking condition or not is judged; and E, if the condition is not met, returning to the step E, if the condition is met, the vehicle is parked in the P gear, and finishing the automatic parking.
The automatic parking method further comprises the following specific steps of: the first pre-aiming point is selected to be slightly close to the front of the parking space so as to enable the vehicle to find the parking space; the path planning module receives the vehicle pose information transmitted by the communication data processing module, compares the relative relation between the current pose and the pre-aiming point, plans a reasonable route and transmits a related control instruction to the vehicle control module.
The invention provides an automatic parking method, the pre-aiming point positions related in the implementation process of the method can be set according to actual needs, and the parking positions can be automatically parked at the left side and the right side of the vehicle driving direction, so that the method has strong expandability and high flexibility. The invention can realize the automatic warehousing process of the vehicle by only using a high-precision positioning antenna and a sensor and simultaneously using an RTK real-time dynamic carrier phase difference technology and selecting a preview point, thereby greatly reducing the manufacturing cost of the vehicle, simplifying the complex algorithm steps when the sensor data is fused, having simple process and being easier to integrate and realize in the existing vehicle products.
Drawings
FIG. 1 is a schematic flow chart of an automatic parking method according to the present invention;
FIG. 2 is a flow chart illustrating a method for controlling an auto-park vehicle according to the present invention;
FIG. 3 is a schematic diagram of a system configuration of a traveling computer according to the present invention;
FIG. 4 is a schematic view of a vehicle in a left side of a parking space in accordance with the present invention;
FIG. 5 is a schematic view of a vehicle on the right side of a parking space in accordance with the present invention.
Detailed Description
The invention provides an automatic parking method, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an automatic parking method, as shown in figure 1, starting an automatic parking state, acquiring vehicle pose information by a traveling computer, loading pre-measured parking space information, and judging the relative position relation between the initial position of a vehicle and a parking space; sending a forward command according to the judgment result to enable the vehicle to arrive at the first pre-aiming point for parking, then sending the forward command again to enable the vehicle to arrive at the second pre-aiming point for parking, planning a path for backing and warehousing to a third pre-aiming point by a driving computer, backing to a place in front of a parking space for parking, judging whether the vehicle can be poured into the parking space, if so, sending a reverse command, and parking when the vehicle arrives at the third pre-aiming point; if not, the driving computer sends a forward command, adjusts the pose of the vehicle to enable the vehicle to travel to the second pre-aiming point again, and stops the vehicle to plan a reverse path of the third pre-aiming point again until the judgment is yes.
In another preferred embodiment of the present invention, as shown in fig. 2, the control steps in the automatic parking process are:
the driving computer receives the control instruction, controls the steering wheel to rotate a target corner, judges whether to shift gears or not, and if not, continues to adjust the target corner of the steering wheel;
if so, judging whether the target gear is a P gear; if the gear is not the P gear, a brake instruction is sent, then a target gear switching instruction is sent, then a speed control instruction is sent to a vehicle body bottom layer control unit, and a traveling computer continues to receive the control instruction;
if the gear is P, a P gear switching instruction is sent after a braking instruction is sent, then the braking instruction is sent, a steering wheel returning instruction is sent, and the vehicle stops.
In order to implement the automatic parking method of the present invention, a communication data processing module, a path planning module, and a vehicle control module may be built in a driving computer, as shown in fig. 3.
The communication data processing module: and receiving the vehicle pose and state and information of various sensors in real time, such as state information of a vehicle gear, a vehicle speed and the like, and vehicle pose information obtained by a high-precision positioning device (comprising a high-precision positioning device, a directional antenna, a ground reference station and the like). The module transmits the received corresponding information to the upper layer module for path planning and vehicle body control through analysis processing. Meanwhile, the module receives the vehicle control instruction sent by each module and further issues the vehicle control instruction to the vehicle bottom layer controller to complete the automatic driving control of the vehicle.
A path planning module: when the vehicle automatically runs to a position near a parking space, a parking path is automatically planned according to the obtained parking space information and the current position and posture information of the vehicle, the distance between the vehicle body and the parking space is calculated in real time through the obtained position and posture information of the vehicle, and the posture of the vehicle is further adjusted. And meanwhile, corresponding state control instructions in the process are transmitted to the vehicle control module.
A vehicle control module: and receiving a vehicle state control instruction from the path planning module in real time, and sending the control instruction to the communication data processing module to realize a vehicle control function. The control commands include brake and accelerator pedal opening, steering wheel angle, and gear information.
For more detailed description of the automatic parking method, the method specifically comprises the following steps:
A. the method comprises the steps that positioning information and parking space orientation angles of four vertexes of a target parking space are measured and recorded in advance through a high-precision positioning device, and meanwhile, the relative position relation between the current position of a vehicle and the parking space is judged; the relative positions of the preview points in the parking process are shown in fig. 4 and 5, the parking method is not only suitable for the two preview point selection schemes (the number of the preview points can be selected, three or more), the relative relation between the initial position of the vehicle and the parking space can be selected, the initial position of the vehicle can be shown in fig. 4 on the left side of the parking space, and can also be shown in fig. 5 on the right side of the parking space, and the position information of all the preview points involved in the parking process is calculated by the parking space information.
B. A communication data processing module of the traveling computer continuously obtains the current positioning and course information of the vehicle body from the high-precision positioning device and transmits the analyzed real-time vehicle body pose information to a path planning module;
C. loading parking space information measured in advance, and giving pose information of a first pre-aiming point in the parking process;
D. after receiving the control command, a vehicle control module of the driving computer sends gear, accelerator, brake and steering control commands to the bottom layer of the vehicle, so that the vehicle automatically drives to a first pre-aiming point in front of the parking space to park;
E. when the vehicle is stopped stably, a path planning module of a driving computer plans a route in real time according to a second pre-aiming point so that the vehicle drives to the second pre-aiming point, at the moment, the vehicle has enough reversing distance from a parking space in front of the parking space, and the heading direction of the vehicle and the direction of the parking space form a certain angle;
F. giving a third pre-aiming point in the parking process, continuing to plan a reversing route by the path planning module, and controlling the vehicle reversing process by the vehicle control module; the path planning module adjusts the vehicle posture in real time according to the distance relation between the current position of the vehicle and the left side and the right side of the parking space, and corrects the deviation; when the vehicle is driven to a certain position in front of the parking space, the vehicle is parked and whether the vehicle meets the warehousing condition is judged; continuing the step J if the condition is not met, and returning to execute the step E if the condition is not met;
J. the vehicle continues backing and warehousing, the posture of the vehicle body is continuously adjusted at the same time, when the vehicle is parked at the third pre-aiming point position, whether the current position meets the parking condition or not is judged; and E, if the condition is not met, returning to the step E, if the condition is met, the vehicle is parked in the P gear, and finishing the automatic parking.
And the step C further comprises: the first pre-aiming point is selected to be slightly close to the front of the parking space so as to enable the vehicle to find the parking space; the path planning module receives the vehicle pose information transmitted by the communication data processing module, compares the relative relation between the current pose and the pre-aiming point, plans a reasonable route and transmits a related control instruction to the vehicle control module.
It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. An automatic parking method characterized by comprising:
starting an automatic parking state, acquiring vehicle pose information by a driving computer, loading pre-measured parking space information, and judging the relative position relation between the initial position of the vehicle and the parking space; sending a forward command according to the judgment result to enable the vehicle to arrive at the first pre-aiming point for parking, then sending the forward command again to enable the vehicle to arrive at the second pre-aiming point for parking, planning a path for backing and warehousing to a third pre-aiming point by a driving computer, sending a reverse command, backing to a place in front of a parking space for parking, judging whether the vehicle can be poured into the parking space, and if so, parking when the vehicle arrives at the third pre-aiming point; if not, the traveling computer sends a forward instruction, adjusts the pose of the vehicle to enable the vehicle to travel to a second pre-aiming point again, and stops the vehicle to plan a reverse path of a third pre-aiming point again until the judgment is yes; the method comprises the following specific steps:
A. the method comprises the steps that positioning information and parking space orientation angles of four vertexes of a target parking space are measured and recorded in advance through a high-precision positioning device, and meanwhile, the relative position relation between the current position of a vehicle and the parking space is judged;
B. a communication data processing module of the traveling computer continuously obtains the current positioning and course information of the vehicle body from the high-precision positioning device and transmits the analyzed real-time vehicle body pose information to a path planning module;
C. loading parking space information measured in advance, and giving pose information of a first pre-aiming point in the parking process;
D. after receiving the control command, a vehicle control module of the driving computer sends gear, accelerator, brake and steering control commands to the bottom layer of the vehicle, so that the vehicle automatically drives to a first pre-aiming point in front of the parking space to park;
E. when the vehicle is stopped stably, a path planning module of a driving computer plans a route in real time according to a second pre-aiming point to enable the vehicle to drive to the aiming point, at the moment, the vehicle has enough reversing distance from the parking space in front of the parking space, and the heading direction of the vehicle and the direction of the parking space form a certain angle;
F. giving a third pre-aiming point in the parking process, continuing to plan a reversing route by the path planning module, and controlling a corresponding reversing process of the vehicle by the vehicle control module; the path planning module adjusts the vehicle posture in real time according to the distance relation between the current position of the vehicle and the left side and the right side of the parking space, and corrects the deviation; when the vehicle is driven to a certain position in front of the parking space, the vehicle is parked and whether the vehicle meets the warehousing condition is judged; continuing the step J if the condition is not met, and returning to execute the step E if the condition is not met;
J. the vehicle continues backing and warehousing, the posture of the vehicle body is continuously adjusted at the same time, when the vehicle is parked at the third pre-aiming point position, whether the current position meets the parking condition or not is judged; if the condition is not met, returning to execute the step E, if the condition is met, the vehicle is parked in the P gear, and finishing the automatic parking;
the control steps in the automatic parking process are as follows:
a vehicle control module of the traveling computer receives a control instruction, controls the steering wheel to rotate a target corner, judges whether to shift gears or not, and if not, continues to adjust the target corner of the steering wheel;
if so, judging whether the target gear is a P gear; if the gear is not the P gear, a brake instruction is sent, then a target gear switching instruction is sent, then a speed control instruction is sent to a vehicle body bottom layer control unit, and a vehicle control module of a traveling computer continues to receive the control instruction;
if the parking position is P position, a brake instruction is sent and then a P position switching instruction is sent, when the vehicle is in a P position parking state, a brake releasing instruction is sent, a steering wheel returning instruction is sent, and the vehicle stops;
the step C further includes: the first pre-aiming point is selected to be slightly close to the front of the parking space so as to enable the vehicle to find the parking space; the path planning module receives the vehicle pose information transmitted by the communication data processing module, compares the relative relation between the current pose and the pre-aiming point, plans a reasonable route and transmits a related control instruction to the vehicle control module.
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| CN201910104471.XA CN109866759B (en) | 2019-02-01 | 2019-02-01 | Automatic parking method |
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Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110838244B (en) * | 2019-10-17 | 2021-02-02 | 惠州市德赛西威智能交通技术研究院有限公司 | Ultrasonic-based vertical parking space course adjusting method |
| CN112714729A (en) * | 2019-11-29 | 2021-04-27 | 华为技术有限公司 | Vehicle path planning method and vehicle path planning device |
| CN112896147B (en) * | 2019-12-04 | 2022-07-19 | 青岛慧拓智能机器有限公司 | Bidirectional positioning parking control method and device for mining vehicle |
| CN111273644B (en) * | 2020-04-09 | 2021-03-26 | 上海申沃客车有限公司 | Automatic parking active braking test method based on CAN bus programming |
| CN111409696A (en) * | 2020-04-21 | 2020-07-14 | 国唐汽车有限公司 | Automatic parking method for new energy bus |
| CN111547048B (en) * | 2020-04-30 | 2022-05-06 | 惠州华阳通用电子有限公司 | Automatic parking method and device for inclined parking spaces |
| CN111547045B (en) * | 2020-04-30 | 2022-05-06 | 惠州华阳通用电子有限公司 | Automatic parking method and device for vertical parking spaces |
| CN111547046B (en) * | 2020-04-30 | 2022-05-06 | 惠州华阳通用电子有限公司 | Parallel parking space pre-occupation type automatic parking method and device |
| CN113799765A (en) * | 2020-06-17 | 2021-12-17 | 观致汽车有限公司 | Automatic parking method and system |
| CN111994069B (en) * | 2020-07-24 | 2021-08-17 | 武汉乐庭软件技术有限公司 | Track preview calculation method and system in automatic parking control system |
| CN112092800B (en) * | 2020-08-12 | 2021-09-14 | 武汉乐庭软件技术有限公司 | Steering wheel corner optimization method and system during automatic parking |
| CN112193241A (en) * | 2020-09-29 | 2021-01-08 | 湖北亿咖通科技有限公司 | Automatic parking method |
| CN112622881B (en) * | 2020-11-06 | 2023-05-23 | 浙江吉利控股集团有限公司 | Intelligent parking method, device, system, storage medium and vehicle |
| CN114516323A (en) * | 2020-11-20 | 2022-05-20 | 奥迪股份公司 | Backing-up assisting method and device for vehicle and vehicle |
| CN112874511B (en) * | 2021-02-07 | 2023-03-28 | 奇瑞汽车股份有限公司 | Automatic driving control method and device for automobile and computer storage medium |
| CN113479193A (en) * | 2021-07-28 | 2021-10-08 | 广东工业大学 | Automatic parking and warehousing method and system based on vehicle head parking |
| CN115223387B (en) * | 2022-06-08 | 2024-01-30 | 东风柳州汽车有限公司 | Parking control system and method |
| CN114919661B (en) * | 2022-06-15 | 2023-06-02 | 中国第一汽车股份有限公司 | Parking control method, device, equipment and storage medium |
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| JP5182545B2 (en) * | 2007-05-16 | 2013-04-17 | アイシン精機株式会社 | Parking assistance device |
| DE102009046677A1 (en) * | 2009-11-13 | 2011-05-19 | Robert Bosch Gmbh | Park method for use with driver assistance system, involves starting position by park position looking for vehicle and determining place of starting position |
| CN105059286A (en) * | 2015-08-11 | 2015-11-18 | 盐城工学院 | Auxiliary parking system and method |
| CN108725585B (en) * | 2017-04-14 | 2021-05-25 | 上海汽车集团股份有限公司 | Trajectory tracking control method and device for autonomous parking of vehicle |
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