CN110239523A - A kind of automatic parking method, device and equipment - Google Patents
A kind of automatic parking method, device and equipment Download PDFInfo
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- CN110239523A CN110239523A CN201910411364.1A CN201910411364A CN110239523A CN 110239523 A CN110239523 A CN 110239523A CN 201910411364 A CN201910411364 A CN 201910411364A CN 110239523 A CN110239523 A CN 110239523A
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- distance
- parking stall
- longitudinal direction
- vehicle
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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
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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
- 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
- B60W40/02—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 related to ambient conditions
-
- 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
Abstract
The present invention relates to a kind of automatic parking methods, which comprises obtains the first longitudinal direction boundary position and second longitudinal direction boundary position of target parking stall；The first longitudinal direction boundary position for determining the target parking stall and the first distance between vehicle on the adjacent parking stall of the first longitudinal direction boundary position；The second longitudinal direction boundary position and the second distance between vehicle on the adjacent parking stall of the second longitudinal direction boundary position for determining the target parking stall；Target parking place of the current vehicle on the target parking stall is determined according to the first distance and the second distance；The current vehicle is controlled to stop into the target parking place.Implement a kind of automatic parking method of the invention, the case where current vehicle causes the current vehicle car door that can not open with vehicle hypotelorism on adjacent parking stall after stopping can be reduced.
Description
Technical field
The present invention relates to automatic parking technical field, in particular to a kind of automatic parking method, device and equipment.
Background technique
Generally there are two types of implementations for existing automatic parking, one is being parked using ultrasonic sensor realization, specifically
Parking stall judgement is carried out by the information of radar detection barrier, vehicle can be parked between two parties in the centre of barrier；Another kind is benefit
Automatic parking is realized with full-view camera, particular by judging that parking stall line judges that parking stall, vehicle generally can be in parking stall
It is parked between two parties in line.
And vehicle parking perfect will not stop between two parties in real life scene, some vehicle parkings skew, some vehicles
The position beyond parking stall planning, is stopped even across two parking stalls.
When being the intermediate parking stall of three continuous parking stalls for target parking stall, need to be parked according to the stop situation of edge parking stall into
Position.And the vehicle of edge parking stall stops skew sometimes, does not stop between two parties sometimes, to increase the difficulty of parking of intermediate parking stall.
For these irregular parking phenomenons, after existing parking system cannot reach effective parking, or parking, it is easy
Existing vehicle and Adjacent vehicles distance are smaller, cause driver to get off difficulty or the case where door opening bumps to opponent vehicle.
Summary of the invention
In view of the above problems in the prior art, it the purpose of the present invention is to provide a kind of automatic parking method, apparatus and sets
It is standby, it can be parked according to the parking posture of vehicle on adjacent parking stall, current vehicle is got on the bus with adjacent parking stall after reducing parking
The case where hypotelorism causes the current vehicle car door that can not open.
First aspect present invention provides a kind of automatic parking method, which comprises obtain target parking stall first is vertical
To boundary position and second longitudinal direction boundary position；Determine the first longitudinal direction boundary position of the target parking stall and close to described first
First distance on the adjacent parking stall of longitudinal boundary position between vehicle；Determine the second longitudinal direction boundary position of the target parking stall with
Second distance between vehicle on the adjacent parking stall of the second longitudinal direction boundary position；According to the first distance and described
Two distances determine target parking place of the current vehicle on the target parking stall；The current vehicle is controlled to stop into described
Target parking place.
Further, described to determine the current vehicle in the target according to the first distance and the second distance
Target parking place on parking stall includes: to judge whether the first distance and second distance are less than second threshold；If described
Any adjacent vehicle for being less than second threshold, obtaining near the first longitudinal direction boundary position in one distance and the second distance
The first position of vehicle on position；Obtain the second position of the vehicle on the adjacent parking stall of the second longitudinal direction boundary position；
Determine the first middle position of the first position and the second position；It is determined based on first middle position described current
Second target parking place of the vehicle in the target parking stall.
Further, determine the current vehicle in the target parking stall according to the first distance and the second distance
On target parking place method further include: if it is not, determining the first longitudinal direction boundary position and second longitudinal direction boundary position
The second middle position；Determine that first object of the current vehicle in the target parking stall is moored based on second middle position
Truck position.
Further, the method also includes: judge close to the first longitudinal direction boundary position and the second longitudinal direction side
Whether park on the adjacent parking stall of boundary position；If not parking on the adjacent parking stall of the second longitudinal direction boundary position,
The first longitudinal direction boundary position and the vehicle on the adjacent parking stall of the first longitudinal direction boundary position for determining the target parking stall
Between first distance；If not parking on the adjacent parking stall of the first longitudinal direction boundary position, the target parking stall is determined
Second longitudinal direction boundary position and the second distance on the adjacent parking stall of the second longitudinal direction boundary position between vehicle；According to
The first distance or the second distance determine target parking place of the current vehicle on the target parking stall.
Further, controlling the current vehicle and stopping includes: that judgement is parked process into the method for the target parking place
Described on current vehicle and adjacent parking stall vehicle the distance between whether be less than third threshold value, the third threshold value includes institute
State current vehicle meets enabling demand between the vehicle shortest distance at each position of parking path and on adjacent parking stall；If
It is that current vehicle adjustment is parked track, so that the distance between vehicle is greater than etc. on the current vehicle and adjacent parking stall
In the third threshold value.
Second aspect of the present invention provides a kind of automatic parking device, and described device includes: that boundary position obtains module, is used for
Obtain the first longitudinal direction boundary position and second longitudinal direction boundary position of target parking stall；First distance determining module, for determining
State the first longitudinal direction boundary position of target parking stall and on the adjacent parking stall of the first longitudinal direction boundary position between vehicle the
One distance；Second distance determining module, for determining the second longitudinal direction boundary position of the target parking stall and close to described second
Second distance on the adjacent parking stall of longitudinal boundary position between vehicle；Target parking place determining module, for according to described the
One distance and the second distance determine target parking place of the current vehicle on the target parking stall；It parks and controls mould
Block stops for controlling the current vehicle into the target parking place.
Further, the target parking place determining module includes: the first judging submodule, for judging described first
Whether distance and second distance are less than second threshold；First position acquisition submodule, in the first distance and described the
Two distance in it is any be less than or equal to second threshold when, obtain on the adjacent parking stall of the first longitudinal direction boundary position vehicle
First position；Second position acquisition submodule is less than or equal to for any in the first distance and the second distance
When second threshold, the second position of the vehicle on the adjacent parking stall of the second longitudinal direction boundary position is obtained；Among first
Position determination submodule, for determining the first middle position of the first position and the second position；Second target is parked
Position determination submodule, for determining the current vehicle in the second mesh of the target parking stall based on first middle position
Mark parking place.
Further, the target parking place determining module further include: the second middle position determines submodule, is used for
When the first distance and the second distance are all larger than second threshold, the first longitudinal direction boundary position and second longitudinal direction are determined
Second middle position of boundary position；First object parking place determines submodule, for true based on second middle position
First object parking place of the fixed current vehicle in the target parking stall.
Further, the control module of parking includes: Distance Judgment submodule, for judging described during parking work as
On vehicle in front and adjacent parking stall vehicle the distance between whether be less than third threshold value, the third threshold value includes described working as front truck
Meet the shortest distance of enabling demand at each position of parking path and on adjacent parking stall between vehicle；It parks track tune
Whole submodule adjusts institute when for being less than third threshold value at a distance from the current vehicle is between vehicle on adjacent parking stall
The track of parking of current vehicle is stated, so that the distance between vehicle is more than or equal to described the on the current vehicle and adjacent parking stall
Three threshold values.
Third aspect present invention provides a kind of automatic parking equipment, comprising: processor and memory are deposited in the memory
Contain at least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Cheng
Sequence, the code set or instruction set are loaded by the processor and are executed to realize the automatic parking method.
Due to above-mentioned technical proposal, the invention has the following beneficial effects:
Judged by the parking posture to vehicle on adjacent parking stall, different mesh is determined according to different parking postures
Mark parking place, reduce after parking vehicle hypotelorism on current vehicle and adjacent parking stall, and thus caused by described work as
The case where vehicle in front car door can not be opened.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of structural schematic diagram of automated parking system provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of automatic parking method provided in an embodiment of the present invention；
Fig. 3 is that a kind of target for determining the current vehicle on the target parking stall provided in an embodiment of the present invention is parked
The flow diagram of position；
Fig. 4 is target pool of second of determination provided in an embodiment of the present invention current vehicle on the target parking stall
The flow diagram of truck position；
Fig. 5 is that provided in an embodiment of the present invention the third determines target pool of the current vehicle on the target parking stall
The flow diagram of truck position；
Fig. 6 is provided in an embodiment of the present invention a kind of to control the current vehicle and stop the process into the target parking place
Schematic diagram；
Fig. 7 is that another control current vehicle provided in an embodiment of the present invention stops the stream into the target parking place
Journey schematic diagram；
Fig. 8 is a kind of the first scene figure of parking of automatic parking method of the present invention；
Fig. 9 is a kind of second of scene figure of parking of automatic parking method of the present invention；
Figure 10 is a kind of the third scene figure of parking of automatic parking method of the present invention；
Figure 11 is a kind of 4th kind of scene figure of parking of automatic parking method of the present invention；
Figure 12 is a kind of 5th kind of scene figure of parking of automatic parking method of the present invention；
Figure 13 is a kind of 6th kind of scene figure of parking of automatic parking method of the present invention；
Figure 14 is a kind of structural schematic diagram of automatic parking device provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that term " first ", " second " etc. in description and claims of this specification and attached drawing
It is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the number used in this way
According to being interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition to illustrating herein or describing
Those of other than sequence implement.In addition, term " includes " and " having " and their any deformation, it is intended that covering is not
Exclusive includes.
Type of parking generally has: run-in index, rectilinear and indented form, wherein rectilinear similar with indented form, the present invention is real
It applies example and is mainly described with the rectilinear situation parked.
Vehicle parking perfect will not stop between two parties in real life scene, some vehicle parkings skew, some vehicles
Position beyond parking stall planning is stopped even across two parking stalls.When being the intermediate parking stall of three company parking stalls for target parking stall,
VEHICLES MUST PARK WITHIN THE MARKED BAY for the stop situation for needing according to edge parking stall.And the vehicle of edge parking stall stops skew sometimes, does not stop between two parties sometimes
Vehicle, to increase the difficulty of parking of intermediate parking stall.For these irregular parking phenomenons, existing parking system, which cannot reach, to be had
The parking of effect, or parking after, be easy to appear vehicle and Adjacent vehicles distance it is smaller, cause driver get off difficulty or door opening collide with
The case where to opponent vehicle.
In order to preferably express, the vehicle of target parking stall of the present invention and adjacent parking stall is retouched with the situation for storage of moving backward
It states.
Referring to Fig. 1, Fig. 1 is a kind of schematic diagram of automated parking system provided in an embodiment of the present invention, as shown in Figure 1,
The automated parking system may include ECU (Electronic Control Unit, electronic control unit), image capturing system,
Vehicle-mounted distance measurement system and display equipment.
It, can be with specifically, described image acquisition system includes preceding camera, left camera, right camera and rear camera
Understand, the preceding camera, left camera, right camera and rear camera be located at the current vehicle vehicle body front side,
Left side, right side and rear side.
Specifically, the vehicle-mounted distance measurement system includes park sensor and side sensor, the sensor of parking
It can be ultrasonic sensor, the biography of parking with side sensor for acquiring range data of the surrounding objects apart from vehicle body
Sensor can be uniformly arranged on the outer vehicle body of the current vehicle, and such as 8 sensors of parking are evenly distributed on around vehicle body, the side
Face sensor can be set in the left and right side of the current vehicle, and such as every side is arranged two.
Automatic parking method of the invention introduced below, Fig. 2 are a kind of automatic parking method provided in an embodiment of the present invention
Flow diagram, present description provides the method operating procedures as described in embodiment or flow chart, but based on conventional or
No creative labor may include more or less operating procedure.The step of enumerating in embodiment sequence is only numerous
One of step execution sequence mode does not represent and unique executes sequence.When actual automatic parking device product executes,
Can be executed according to embodiment or the execution of method shown in the drawings sequence or parallel (such as parallel processor or multithreading
The environment of processing).It is specific as shown in Fig. 2, the method may include:
Step S201: the first longitudinal direction boundary position and second longitudinal direction boundary position of target parking stall are obtained；
The target parking stall refers to a certain intermediate parking stall for not having barrier within the line of parking stall, the barrier include moor into
Vehicle or rise ground lock etc., the first longitudinal direction boundary position and second longitudinal direction boundary position refer to the target parking stall two
Position where the line of side longitudinal direction parking stall.
In practical applications, first that the target parking stall can be obtained by the image capturing system of current vehicle is vertical
To boundary position and second longitudinal direction boundary position, the current vehicle can pass through the preceding camera, left camera, right camera shooting
Head or rear camera shoot the image of the target parking stall, are obtained by the parking stall parking stall the Xian Deng boundary marker in identification image
The first longitudinal direction boundary position and second longitudinal direction boundary position.
Step S203: the first longitudinal direction boundary position of the target parking stall is determined and close to the first longitudinal direction boundary position
Adjacent parking stall on first distance between vehicle；
The first distance refers to the first longitudinal direction boundary position of the target parking stall and close to the first longitudinal direction boundary
The shortest distance on the adjacent parking stall of position between vehicle, in practical applications, the first distance can work as front truck by described
Image capturing system determine that the current vehicle shoots the image of the target parking stall and close by the camera
The image of vehicle on the adjacent parking stall of the target parking stall first longitudinal direction boundary position waits vehicles by the parking stall line in identification image
The boundary of bit boundary mark and vehicle obtains the first distance.
Step S205: the second longitudinal direction boundary position of the target parking stall is determined and close to the second longitudinal direction boundary position
Adjacent parking stall on second distance between vehicle；
The second distance refers to the second longitudinal direction boundary position of the target parking stall and close to the second longitudinal direction boundary
The shortest distance on the adjacent parking stall of position between vehicle, in practical applications, the second distance can work as front truck by described
Image capturing system determine that the current vehicle shoots the image of the target parking stall and close by the camera
The image of vehicle on the adjacent parking stall of the target parking stall second longitudinal direction boundary position waits vehicles by the parking stall line in identification image
The boundary of bit boundary mark and vehicle obtains the second distance.
Step S207: determine the current vehicle on the target parking stall according to the first distance and second distance
Target parking place；
The target parking place includes first object parking place, the second target parking place and third target parking position
It sets, the first object parking place specifically refers to laterally centered position in the target parking stall；The second target pool
Truck position specifically refers to, in the target parking stall, in closest the first longitudinal direction boundary position and second longitudinal direction boundary bit
Position that is placed in the middle and being more than or equal to first threshold at a distance from the line of target parking stall longitudinal direction parking stall between the vehicle position set
It sets；The third target parking place specifically refers to, in the target parking stall, with the target parking stall first longitudinal direction boundary bit
Set or the distance of second longitudinal direction boundary position be more than or equal to first threshold position.
In some embodiments, as shown in figure 3, determining that the current vehicle exists according to the first distance and second distance
Target parking place on the target parking stall may include:
Step S301: judge whether the first distance and second distance are less than second threshold；
In practical applications, described current for example, the truck spaces of the target parking stall and adjacent parking stall are 2.3m*5m
The width of vehicle is 1.9m on vehicle and adjacent parking stall, and the second threshold can be set as 20cm.
Step S303: it if any in the first distance and the second distance be less than second threshold, obtains near institute
The first position of vehicle on the adjacent parking stall of first longitudinal direction boundary position is stated, and is obtained near the second longitudinal direction boundary bit
The second position of vehicle on the adjacent parking stall set；
In practical applications, to the target parking stall and close to the target parking stall adjacent parking stall on vehicle picture into
Row scanning, records the coordinate of the first position of vehicle on the adjacent parking stall of the first longitudinal direction boundary position, and most
The coordinate of the second position of vehicle on the adjacent parking stall of the second longitudinal direction boundary position；Wherein, coordinate system is with the figure
Specified point in piece is zero point, with the side vertical with the target parking stall first longitudinal direction boundary or second longitudinal direction boundary extending direction
To for horizontal axis, drawn using the target parking stall first longitudinal direction boundary or second longitudinal direction boundary extending direction as the longitudinal axis.
Step S305: the first middle position of the first position and the second position is determined；
Step S307: determine the current vehicle in the second target of the target parking stall based on first middle position
Parking place.
In further embodiments, as shown in figure 4, determining the current vehicle according to the first distance and second distance
Target parking place on the target parking stall can also include:
Step S401: if the first distance and the second distance are all larger than equal to second threshold, described first is determined
Second middle position of longitudinal boundary position and second longitudinal direction boundary position；
Step S403: determine the current vehicle in the first object of the target parking stall based on second middle position
Parking place.
In some embodiments, it may be possible to be difficult to obtain institute at this time there are not parking on the adjacent parking stall in the target parking stall
First distance and second distance are stated, therefore, as shown in figure 5, the automatic parking method can also include:
Step S501: judge close to the adjacent parking stall of the first longitudinal direction boundary position and the second longitudinal direction boundary position
On whether park；
Step S503: if not parking on the adjacent parking stall of the second longitudinal direction boundary position, the target is determined
The first longitudinal direction boundary position of parking stall and the first distance between vehicle on the adjacent parking stall of the first longitudinal direction boundary position；
Step S505: if not parking on the adjacent parking stall of the first longitudinal direction boundary position, the target is determined
The second longitudinal direction boundary position of parking stall and the second distance between vehicle on the adjacent parking stall of the second longitudinal direction boundary position；
Step S507: determine the current vehicle in the target parking stall according to the first distance or the second distance
On target parking place.
If the first distance or second distance are more than or equal to second threshold, the first longitudinal direction boundary position and the are determined
Second middle position of two longitudinal boundary positions determines the current vehicle in the target carriage based on second middle position
The first object parking place of position.
It is vertical based on the second longitudinal direction boundary position or first if the first distance or second distance are less than second threshold
Determine the current vehicle in the third parking place of the target parking stall to boundary position.
Step S209: it controls the current vehicle and stops into the target parking place.
The current location of the current vehicle can be obtained by vehicle mileage meter, in conjunction with the target parking place, institute
It states current vehicle and generates parking path in the region between current location and the target parking place, it is then described to work as front truck
Stop according to the parking path into the target parking place.
Since the vehicle on adjacent parking stall can have the situation sideling parked, stopping into the target parking place
During, it can be according to the real-time range on the current vehicle and adjacent parking stall to determine whether needing to adjust described current
The parking path of vehicle, as shown in fig. 6, the control current vehicle stop may include: into the target parking place
Step S601: judgement park during the current vehicle on adjacent parking stall vehicle the distance between it is whether small
In third threshold value, the third threshold value includes the current vehicle at each position of parking path and vehicle on adjacent parking stall
Between meet the shortest distance of enabling demand, the enabling demand includes the current vehicle in target parking place, can be beaten
Door opening meets the needs of passenger's discrepancy；
Specifically, can be obtained by the vehicle-mounted distance measurement system of the current vehicle current vehicle with it is adjacent
On parking stall vehicle the distance between.
Step S603: if so, the current vehicle adjusts parking path, so that the current vehicle is got on the bus with adjacent parking stall
The distance between be more than or equal to the third threshold value.
During actually parking, there are the feelings that exception or driver intervene steering wheel on the current vehicle periphery sometimes
Shape, for such situation, as shown in fig. 7, the control current vehicle stop can also include: into the target parking place
Step S701: the exception information and/or steering wheel intervention information on the current vehicle periphery are monitored；
Step S703: if monitoring the exception information and/or steering wheel intervention information, stop automatic parking.
During parking, the current vehicle also has the function of that comfort brake stops and promptly stop to stop, and comfort brake stops function
It can feel to the more gentle brake of driver, urgent brake, which stops function again, can help driver to hinder barrier emergent
Before, emergency braking further reduces the risk of collision.After the process of parking, the display equipment meeting of the current vehicle
Prompt automatic parking auxiliary is completed.
In practical applications, as shown in Fig. 8, when on the adjacent parking stall vehicle stop between two parties, i.e., the described target carriage
The first distance and second distance of the position left and right sides are equal to second threshold, and the current vehicle finally stops into described first
Target parking place.
In practical applications, as shown in Fig. 9, the first distance at left and right sides of the target parking stall and second away from
From respectively less than second threshold, the current vehicle finally stops into the second target parking place.
In practical applications, as shown in Fig. 10, the first distance and second at left and right sides of the target parking stall
Distance is all larger than second threshold, and the current vehicle finally stops into the first object parking place.
In practical applications, as shown in Fig. 11, when the shortest distance such as first distance of target parking stall side is less than
Second threshold, the shortest distance of the other side such as second distance are equal to second threshold, and the current vehicle finally stops into described second
Target parking place, at this point, if the current vehicle finally rests in first object parking place, a left side for the current vehicle
Side car door may not open, and stop into the second target parking place, and the left and right sides car door of the current vehicle can guarantee opening.
In practical applications, as shown in Fig. 12, when the shortest distance such as first distance of target parking stall side is less than
Second threshold, the shortest distance of the other side such as second distance are greater than second threshold, and the current vehicle finally stops into described second
Target parking place, at this point, if the current vehicle finally rests in first object parking place, a left side for the current vehicle
Side car door may not open, and stop into the second target parking place, and the left and right sides car door of the current vehicle can guarantee opening.
In practical applications, as shown in Fig. 13, when the shortest distance such as first distance of target parking stall side is equal to
Second threshold, the shortest distance of the other side such as second distance are greater than second threshold, and the current vehicle finally stops into described first
Target parking place.
The present invention also provides a kind of automatic parking devices, irregular encountering by implementing the automatic parking device
When parking, current vehicle also can be realized effective parking, solve the problems, such as after stopping with Adjacent vehicles apart from lesser, such as Figure 14
Shown, described device includes:
Boundary position obtains module 140, for obtaining first longitudinal direction boundary position and the second longitudinal direction boundary of target parking stall
Position；
First distance determining module 141, for determining the first longitudinal direction boundary position of the target parking stall and close to described
First distance on the adjacent parking stall of first longitudinal direction boundary position between vehicle；
Second distance determining module 142, for determining the second longitudinal direction boundary position of the target parking stall and close to described
Second distance on the adjacent parking stall of second longitudinal direction boundary position between vehicle；
Target parking place determining module 143, for working as according to the first distance and second distance determination
Target parking place of the vehicle in front on the target parking stall；
Control module of parking 144 is stopped for controlling the current vehicle into the target parking place.
In some embodiments, the target parking place determining module includes:
First judging submodule, for judging whether the first distance and second distance are less than second threshold；
First position acquisition submodule is less than or equal to second for any in the first distance and the second distance
When threshold value, the first position of the vehicle on the adjacent parking stall of the first longitudinal direction boundary position is obtained；
Second position acquisition submodule is less than or equal to second for any in the first distance and the second distance
When threshold value, the second position of the vehicle on the adjacent parking stall of the second longitudinal direction boundary position is obtained；
First middle position determines submodule, for determining the first interposition of the first position and the second position
It sets；
Second target parking place determines submodule, for determining that the current vehicle exists based on first middle position
Second target parking place of the target parking stall.
In some embodiments, the target parking place determining module further include:
Second middle position determines submodule, for being all larger than second threshold in the first distance and the second distance
When, determine the second middle position of the first longitudinal direction boundary position and second longitudinal direction boundary position；
First object parking place determines submodule, for determining that the current vehicle exists based on second middle position
The first object parking place of the target parking stall.
In some embodiments, the control module of parking includes:
Distance Judgment submodule, on judge the to park current vehicle in the process and adjacent parking stall between vehicle
Distance whether be less than third threshold value, the third threshold value include the current vehicle at each position of parking path with it is adjacent
Meet the shortest distance of enabling demand on parking stall between vehicle, the enabling demand includes the current vehicle in target parking position
It sets, car door can be opened and meet the needs of passenger's discrepancy；
It parks track adjusting submodule, for being less than at a distance from the current vehicle is between vehicle on adjacent parking stall
When third threshold value, the track of parking of the current vehicle is adjusted, so that on the current vehicle and adjacent parking stall between vehicle
Distance is more than or equal to the third threshold value.
In some embodiments, the adjacent parking stall of the current parking stall may not park, not have when on adjacent parking stall
When parking, it is difficult to obtain the first distance or second distance, therefore, described device further include:
It parks judgment module, for judging close to the first longitudinal direction boundary position and the second longitudinal direction boundary position
Whether park on adjacent parking stall；
The first distance determining module is also used to not have on the adjacent parking stall close to the second longitudinal direction boundary position
When parking, the first longitudinal direction boundary position of the target parking stall and the adjacent parking stall close to the first longitudinal direction boundary position are determined
First distance between upper vehicle；
The second distance determining module is also used to not have on the adjacent parking stall close to the first longitudinal direction boundary position
When parking, the second longitudinal direction boundary position of the target parking stall and the adjacent parking stall close to the second longitudinal direction boundary position are determined
Second distance between upper vehicle；
Correspondingly, the target parking place determining module be also used to it is true according to the first distance or the second distance
Fixed target parking place of the current vehicle on the target parking stall.
In some embodiments, sometimes the current vehicle periphery there are the situation that exception or driver intervene steering wheel,
Therefore, described device further include:
Information monitoring module, for monitoring the exception information and/or steering wheel intervention information on the current vehicle periphery；
The control module of parking is also used to stop when monitoring the exception information and/or steering wheel intervention information
Automatic parking.
Apparatus and method embodiment in the Installation practice is based on same inventive concept.
The embodiment of the invention also provides a kind of automatic parking equipments, comprising: processor and memory, in the memory
It is stored at least one instruction, at least a Duan Chengxu, code set or instruction set, described at least one instructs, is at least one section described
Program, the code set or instruction set are loaded by the processor and are executed to realize the automatic parking method.
The embodiment of the automatic parking method, apparatus or equipment that are provided by aforementioned present invention is as it can be seen that by working as in the present invention
The first longitudinal direction boundary position and second longitudinal direction boundary position of vehicle in front acquisition target parking stall；Then, it is determined that the target parking stall
First longitudinal direction boundary position and the first distance on the adjacent parking stall of the first longitudinal direction boundary position between vehicle, and
The second longitudinal direction boundary position and the vehicle on the adjacent parking stall of the second longitudinal direction boundary position for determining the target parking stall
Between second distance；Then, determine the current vehicle in the target carriage according to the first distance and the second distance
Target parking place on position；Stop finally, controlling the current vehicle into the target parking place.Implemented using this specification
The technical solution that example provides can be judged by the parking posture to vehicle on adjacent parking stall, according to different parking postures
It determines different target parking places, reduces current vehicle and vehicle hypotelorism on adjacent parking stall after parking, and thus
The case where caused current vehicle car door can not be opened.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For terminal and system embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Claims (10)
1. a kind of automatic parking method, which is characterized in that the described method includes:
Obtain the first longitudinal direction boundary position and second longitudinal direction boundary position of target parking stall；
Determine the first longitudinal direction boundary position of the target parking stall and on the adjacent parking stall of the first longitudinal direction boundary position
First distance between vehicle；
Determine the second longitudinal direction boundary position of the target parking stall and on the adjacent parking stall of the second longitudinal direction boundary position
Second distance between vehicle；
Determine that target of the current vehicle on the target parking stall is parked according to the first distance and the second distance
Position；
The current vehicle is controlled to stop into the target parking place.
2. a kind of automatic parking method according to claim 1, which is characterized in that described according to the first distance and institute
It states second distance and determines that target parking place of the current vehicle on the target parking stall includes:
Judge whether the first distance and second distance are less than second threshold；
If any in the first distance and the second distance be less than second threshold, obtain near the first longitudinal direction boundary
The first position of vehicle on the adjacent parking stall of position；
Obtain the second position of the vehicle on the adjacent parking stall of the second longitudinal direction boundary position；
Determine the first middle position of the first position and the second position；
Determine the current vehicle in the second target parking place of the target parking stall based on first middle position.
3. a kind of automatic parking method according to claim 2, which is characterized in that according to the first distance and described
The method that two distances determine target parking place of the current vehicle on the target parking stall further include:
If it is not, determining the second middle position of the first longitudinal direction boundary position and second longitudinal direction boundary position；
Determine the current vehicle in the first object parking place of the target parking stall based on second middle position.
4. a kind of automatic parking method according to claim 1, which is characterized in that the method also includes:
Judge whether park on the adjacent parking stall of the first longitudinal direction boundary position and the second longitudinal direction boundary position；
If not parking on the adjacent parking stall of the second longitudinal direction boundary position, the first longitudinal direction of the target parking stall is determined
Boundary position and the first distance between vehicle on the adjacent parking stall of the first longitudinal direction boundary position；
If not parking on the adjacent parking stall of the first longitudinal direction boundary position, the second longitudinal direction of the target parking stall is determined
Boundary position and the second distance between vehicle on the adjacent parking stall of the second longitudinal direction boundary position；
Determine that target of the current vehicle on the target parking stall is parked according to the first distance or the second distance
Position.
5. a kind of automatic parking method according to claim 1, which is characterized in that control the current vehicle and stop into described
The method of target parking place includes:
During judgement is parked on the current vehicle and adjacent parking stall vehicle the distance between whether be less than third threshold value, institute
Stating third threshold value includes that the current vehicle meets enabling between vehicle at each position of parking path and on adjacent parking stall
The shortest distance of demand；
The track if so, the current vehicle adjustment is parked, so that the distance between vehicle on the current vehicle and adjacent parking stall
More than or equal to the third threshold value.
6. a kind of automatic parking device, which is characterized in that described device includes:
Boundary position obtains module, for obtaining the first longitudinal direction boundary position and second longitudinal direction boundary position of target parking stall；
First distance determining module, for determining the first longitudinal direction boundary position of the target parking stall and close to the first longitudinal direction
First distance on the adjacent parking stall of boundary position between vehicle；
Second distance determining module, for determining the second longitudinal direction boundary position of the target parking stall and close to the second longitudinal direction
Second distance on the adjacent parking stall of boundary position between vehicle；
Target parking place determining module, for determining that the current vehicle exists according to the first distance and the second distance
Target parking place on the target parking stall；
It parks control module, stops for controlling the current vehicle into the target parking place.
7. a kind of automatic parking device according to claim 6, which is characterized in that the target parking place determining module
Include:
First judging submodule, for judging whether the first distance and second distance are less than second threshold；
First position acquisition submodule is less than or equal to second threshold for any in the first distance and the second distance
When, obtain the first position of the vehicle on the adjacent parking stall of the first longitudinal direction boundary position；
Second position acquisition submodule is less than or equal to second threshold for any in the first distance and the second distance
When, obtain the second position of the vehicle on the adjacent parking stall of the second longitudinal direction boundary position；
First middle position determines submodule, for determining the first middle position of the first position and the second position；
Second target parking place determines submodule, for determining the current vehicle described based on first middle position
Second target parking place of target parking stall.
8. a kind of automatic parking device according to claim 7, which is characterized in that the target parking place determining module
Further include:
Second middle position determines submodule, for when the first distance and the second distance are all larger than second threshold,
Determine the second middle position of the first longitudinal direction boundary position and second longitudinal direction boundary position；
First object parking place determines submodule, for determining the current vehicle described based on second middle position
The first object parking place of target parking stall.
9. a kind of automatic parking device according to claim 6, which is characterized in that the control module of parking includes:
Distance Judgment submodule, on the current vehicle during judging to park and adjacent parking stall vehicle the distance between
Whether be less than third threshold value, the third threshold value include the current vehicle at each position of parking path with adjacent parking stall
Meet the shortest distance of enabling demand between upper vehicle；
It parks track adjusting submodule, for being less than third at a distance from the current vehicle is between vehicle on adjacent parking stall
When threshold value, the track of parking of the current vehicle is adjusted, so that the distance between vehicle on the current vehicle and adjacent parking stall
More than or equal to the third threshold value.
10. a kind of automatic parking equipment, comprising: processor and memory are stored at least one instruction, extremely in the memory
A few Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, the code set or instruction
Collection is loaded by the processor and is executed to realize automatic parking method a method as claimed in any one of claims 1 to 5.
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| CN201910411364.1A CN110239523B (en) | 2019-05-17 | 2019-05-17 | Automatic parking method, device and equipment |
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| CN201910411364.1A CN110239523B (en) | 2019-05-17 | 2019-05-17 | Automatic parking method, device and equipment |
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| CN113353068A (en) * | 2021-07-26 | 2021-09-07 | 广州小鹏自动驾驶科技有限公司 | Parking control method, device, vehicle and medium |
| CN113771839A (en) * | 2021-09-14 | 2021-12-10 | 武汉光庭信息技术股份有限公司 | Automatic parking decision planning method and system |
| CN117565860A (en) * | 2024-01-16 | 2024-02-20 | 江苏开沃汽车有限公司 | Remote automatic parking method, system, terminal equipment and storage medium |
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| CN110239523B (en) | 2020-11-03 |
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