CN110654373A - Automatic parking method and device and vehicle - Google Patents
Automatic parking method and device and vehicle Download PDFInfo
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- CN110654373A CN110654373A CN201810699475.2A CN201810699475A CN110654373A CN 110654373 A CN110654373 A CN 110654373A CN 201810699475 A CN201810699475 A CN 201810699475A CN 110654373 A CN110654373 A CN 110654373A
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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 invention provides a vehicle and an automatic parking method and device thereof, wherein the method comprises the following steps: starting an automatic parking function, and controlling the vehicle to run according to a parking track; judging whether the part of the parking track where the vehicle does not run is feasible according to the surrounding environment information of the vehicle and the information of the parking space which are acquired in real time; if not, the parking track is re-planned according to the surrounding environment information of the vehicle and the information of the parking space, so that the parking track can be adjusted when the driving track is not feasible, and the success rate of parking is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an automatic parking method and device and a vehicle.
Background
In recent years, with the rapid increase in the number of automobiles in each large city, the problem of difficulty in parking has become more severe, and in this case, the automatic parking technology has been growing. However, the related art has a problem that when an emergency situation, such as an obstacle during parking, a change in an initially selected parking space, or the like, is encountered during automatic parking, the automatic parking system still performs parking according to an initially planned parking trajectory or directly exits from automatic parking, resulting in a failure in parking.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide an automatic parking method, which adjusts a parking trajectory when the parking trajectory is not feasible, so as to improve a success rate of parking.
A second object of the present invention is to provide an automatic parking apparatus.
A third object of the invention is to propose a vehicle.
A fourth object of the present invention is to provide an in-vehicle electronic apparatus.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
A sixth object of the invention is to propose a computer program product.
In order to achieve the above object, a first embodiment of the present invention provides an automatic parking method, including the steps of: starting an automatic parking function, and controlling the vehicle to run according to a parking track; judging whether the part of the parking track where the vehicle does not run is feasible according to the surrounding environment information of the vehicle and the information of the parking space which are acquired in real time; if not, replanning the parking track according to the surrounding environment information of the vehicle and the information of the parking space.
According to the automatic parking method provided by the embodiment of the invention, firstly, an automatic parking function is started, a vehicle is controlled to run according to a parking track, then whether the part of the parking track where the vehicle does not run is feasible is judged according to the real-time collected surrounding environment information of the vehicle and the information of parking spaces, and the parking track is replanned according to the surrounding environment information of the vehicle and the information of the parking spaces when the vehicle is not feasible. Therefore, the parking method provided by the embodiment of the invention can identify whether the part of the planned track which is not driven is feasible in real time, and adjust the parking track when the part is not feasible, so that the uncertainty of the parking track during parking is effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
In order to achieve the above object, an automatic parking device according to a second aspect of the present invention includes: the detection module is used for acquiring the ambient environment information of the vehicle and the parking space information; the starting module is used for starting the automatic parking function and controlling the vehicle to run according to the parking track; the judging module is used for judging whether the part of the vehicle which does not run in the parking track is feasible or not according to the real-time collected surrounding environment information of the vehicle and the information of the parking space; and the planning module is used for re-planning the parking track according to the surrounding environment information of the vehicle and the information of the parking space if the part of the parking track where the vehicle does not run is not feasible.
According to the automatic parking device provided by the embodiment of the invention, the detection module is used for acquiring the surrounding environment information and the parking space information of the vehicle, the starting module is used for starting the automatic parking function to control the vehicle to run according to the parking track, the judgment module is used for judging whether the part of the parking track where the vehicle does not run is feasible according to the surrounding environment information and the parking space information acquired in real time, and if the part of the parking track where the vehicle does not run is not feasible, the planning module is used for replanning the parking track according to the surrounding environment information and the parking space information of the vehicle. Therefore, the parking device provided by the embodiment of the invention can identify whether the part of the planned track which is not driven is feasible in real time, and adjust the parking track when the part is not feasible, so that the uncertainty of the parking track during parking is effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively finished in real time, and the user experience is improved.
In order to achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes the automatic parking apparatus according to the embodiment of the second aspect of the present invention.
According to the vehicle disclosed by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
In order to achieve the above object, a fourth aspect of the present invention provides an in-vehicle electronic apparatus, including: the parking system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the automatic parking method of the embodiment of the first aspect of the invention.
According to the vehicle-mounted electronic equipment provided by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
To achieve the above object, a non-transitory computer-readable storage medium is provided in an embodiment of a fifth aspect of the present invention, and a computer program is stored thereon, where the computer program is executed by a processor to implement the automatic parking method according to the embodiment of the first aspect of the present invention.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
To achieve the above object, an embodiment of a sixth aspect of the present invention provides a computer program product, wherein when the instructions of the computer program product are executed by a processor, the computer program product executes the automatic parking method according to the embodiment of the first aspect of the present invention.
According to the computer program product provided by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an automatic parking method according to an embodiment of the present invention;
fig. 3 is a block diagram schematically illustrating an automatic parking apparatus according to an embodiment of the present invention;
FIG. 4 is a block schematic diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
It should be noted that, due to variability of external actual environmental factors, the feasibility of a preset parking trajectory during automatic parking is reduced, and even the automatic parking is blocked in the middle of the automatic parking, and an automatic parking system in the related art directly exits from an automatic parking function, resulting in a failure in parking.
For the above reasons, the present application proposes an automatic parking method.
An automatic parking method, an automatic parking device, and a vehicle according to embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an automatic parking method according to an embodiment of the present invention. As shown in fig. 1, the automatic parking method according to the embodiment of the present invention includes the steps of:
s1: and starting an automatic parking function, and controlling the vehicle to run according to a parking track.
It should be understood that, after the user starts the automatic parking function, the automatic parking system plans a parking trajectory according to the information around the vehicle and the information of the parking space at the current time, and controls the vehicle to travel according to the parking trajectory.
S2: and judging whether the part of the vehicle which does not run in the parking track is feasible or not according to the surrounding environment information of the vehicle and the information of the parking space which are acquired in real time.
According to one embodiment of the present invention, the real-time collected surrounding environment information of the vehicle includes: acquiring real-time surrounding environment information of the vehicle according to the image acquisition device; or acquiring the surrounding environment information of the real-time vehicle according to the server; wherein the surrounding environment information of the vehicle includes: relative position information between the vehicle and the parking space and/or relative position information between the vehicle and surrounding obstacles.
In addition, the information of the parking space of the vehicle that still can gather in real time includes: acquiring real-time parking space information of a vehicle according to an image acquisition device; or acquiring the information of the parking space of the real-time vehicle according to the server; wherein, the information of the parking space comprises any one or combination of more of the following information: the parking space information, the parking space position information and the parking space surrounding vehicle information, and the obstacles can be the parking space surrounding green belts and the like, toll bars and garbage cans.
That is, the vehicle may be provided with an image capturing device for acquiring one or more of the surrounding environment information of the vehicle and the parking space information in real time, or the vehicle may be further provided with a communication device for communicating with the server to acquire one or more of the surrounding environment information of the vehicle and the parking space information in real time from the server.
It should be understood that as the vehicle travels along the parking trajectory, the angle, distance, etc. between the vehicle and the parking space and obstacle will change as the vehicle moves; the vehicle information around the parking space may include the number and position of vehicles around the parking space, for example, at least one of the front vehicle or the rear vehicle as a reference is removed, and for example, the vehicle as a reference is changed from the front vehicle only or the rear vehicle only to the front vehicle and the rear vehicle, and the like.
According to one embodiment of the present invention, determining whether a non-driving portion of a vehicle in a parking trajectory is feasible according to the surrounding environment information of the vehicle and the parking space information collected in real time includes: judging whether an obstacle exists in the part, which does not run, of the vehicle in the parking track according to the surrounding environment information of the vehicle acquired in real time; judging whether the parking space is changed or not according to the information of the parking space acquired in real time; and if the obstacle exists in the part of the parking track where the vehicle does not run and/or the parking space is changed, judging that the part of the parking track where the vehicle does not run is not feasible.
Specifically, the method includes the steps that surrounding information of a vehicle is collected in real time, whether an obstacle exists in a part, which is not driven, of the vehicle in a parking track is judged, if the obstacle exists in the part, which is not driven, of the vehicle in the parking track, for example, any obstacle such as a green belt, a charging rod and a garbage can exists in the part, which is not driven, of the vehicle in the parking track, the part, which is not driven, of the vehicle in the parking track is judged to be not feasible, and if the obstacle does not exist in the part, which is not driven, of the vehicle in the parking track, for example, any obstacle such as a green belt, a charging rod and a garbage can does not exist in the part, which; and acquiring information of the parking space in real time, judging whether the parking space is changed or not, if so, judging that the part of the parking track where the vehicle does not run is not feasible, and if not, judging that the part of the parking track where the vehicle does not run is feasible.
S3: and if the part of the parking track where the vehicle does not run is not feasible, re-planning the parking track according to the surrounding environment information of the vehicle and the information of the parking space.
That is, if an obstacle exists in a portion of the parking trajectory where the vehicle is not traveling and/or the parking space is changed, the parking trajectory is re-planned according to the surrounding environment information of the vehicle and the information of the parking space.
Therefore, the feasibility judgment of the part, which does not run, of the parking track can be carried out in real time according to the surrounding environment information of the vehicle and the information of the parking space, the abnormity of automatic parking can be identified in time, and the re-planning of the parking track can be carried out according to the surrounding environment information of the vehicle and the information of the parking space when the abnormity of the automatic parking is identified, so that the feasibility of the parking track can be effectively improved, the automatic parking can be effectively completed, and the user experience is improved.
According to one embodiment of the present invention, the automatic parking method further includes: the method and the device have the advantages that the preset parking track is tracked in real time to monitor whether the actual parking track of the vehicle is located in the set range of the preset parking track, so that whether the actual parking track of the vehicle is abnormal or not can be recognized in time, and traffic accidents caused by the fact that the vehicle cannot run according to the preset parking track are prevented.
Specifically, the automatic parking function is started, the vehicle is controlled to run according to the parking track, the actual running track of the vehicle is obtained, whether the actual running track of the vehicle is located within the set range of the preset parking track or not is judged, if yes, the vehicle is continuously controlled to run according to the parking track, if not, the parking track is planned again according to the information of the surrounding environment of the vehicle and the parking space, and the vehicle is controlled to run according to the new parking track.
According to an embodiment of the present invention, before the starting of the automatic parking function, the method may further include: calculating an automatic parking starting point according to the surrounding environment information of the vehicle and the parking space information acquired in real time; initiating an auto park function comprising: when the vehicle reaches the automatic parking starting point, the automatic parking function is started.
It should be noted that, according to the information of the surrounding environment of the vehicle and the parking space (for example, the size of the space, the position of the parking space, and the information of the surrounding vehicles) collected in real time, in combination with the vehicle information of the host vehicle (for example, the size of the external shape of the host vehicle), it is calculated and determined whether the target parking space meets the parking requirement of the host vehicle, if the target parking space meets the parking requirement of the host vehicle, an automatic parking starting point of the current target vehicle is calculated, and if the target parking space does not meet the parking requirement of the host vehicle, the automatic parking system continues to detect the target parking space.
Further, before starting the automatic parking function, the method may further include: and planning a parking track according to the acquired surrounding environment information and parking space information of the vehicle, the automatic parking starting point and the pose of the vehicle. The pose of the vehicle refers to the position and the pose of the vehicle when the vehicle runs on a curve, and the pose of the vehicle body is determined by the height of a floor in the vehicle and an inclination angle relative to a ground line.
That is to say, before the automatic parking function is started, the ambient environment information of the vehicle and the information of the parking space can be collected in real time, the automatic parking starting point is calculated according to the ambient information of the vehicle and the information of the parking space, the parking track is planned according to the ambient environment information of the vehicle, the information of the parking space, the automatic parking starting point and the pose of the vehicle, and then the automatic parking function is started to control the vehicle to run according to the parking track.
One embodiment of the present invention is described below with reference to fig. 2.
Fig. 2 is a flowchart of an automatic parking method according to an embodiment of the present invention. As shown in fig. 2, the automatic parking method according to the embodiment of the present invention includes the steps of:
s101: and starting an automatic parking function, and controlling the vehicle to run according to the current parking track.
After the automatic parking function is started, the preset parking track is the current parking track, namely, the vehicle is controlled to run according to the preset parking track.
S102: and tracking the current parking track in real time.
S103: the method comprises the steps of collecting surrounding environment information of a vehicle and parking space information in real time.
S104: and judging whether the current parking track is finished or not.
If yes, automatic parking is finished; if not, step S105 is performed.
S105: and judging whether the part of the parking track where the vehicle does not run is feasible or not.
If yes, returning to the step S102; if not, step S106 is performed.
S106: and replanning the driving track and returning to the step S102.
In summary, according to the automatic parking method of the embodiment of the present invention, the automatic parking function is first started to control the vehicle to travel according to the parking trajectory, then whether the part of the parking trajectory where the vehicle does not travel is feasible is determined according to the information of the surrounding environment of the vehicle and the information of the parking space acquired in real time, and the parking trajectory is re-planned according to the information of the surrounding environment of the vehicle and the information of the parking space when the vehicle is not feasible. Therefore, the parking method provided by the embodiment of the invention can identify whether the part of the planned track which is not driven is feasible in real time, and adjust the parking track when the part is not feasible, so that the uncertainty of the parking track during parking is effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
Fig. 3 is a block diagram illustrating an automatic parking apparatus according to an embodiment of the present invention. As shown in fig. 3, the automatic parking apparatus 100 according to the embodiment of the present invention includes: a detection module 10, an activation module 20, a judgment module 30 and a planning module 40.
The detection module 10 is used for acquiring the ambient environment information of the vehicle and the parking space information; the starting module 20 is used for starting an automatic parking function and controlling the vehicle to run according to a parking track; the judging module 30 is configured to judge whether a non-driving portion of the vehicle in the parking trajectory is feasible according to the real-time acquired ambient environment information of the vehicle and the information of the parking space; the planning module 40 is configured to, if the part of the parking trajectory where the vehicle does not travel is not feasible, re-plan the parking trajectory according to the surrounding environment information of the vehicle and the information of the parking space.
Further, the automatic parking apparatus 100 further includes: and the tracking module is used for tracking the preset parking track in real time so as to monitor whether the actual parking track of the vehicle is within the set range of the preset parking track.
Further, the determining module 30 is specifically configured to: judging whether an obstacle exists in the part, which does not run, of the vehicle in the parking track according to the surrounding environment information of the vehicle acquired in real time; judging whether the parking space is changed or not according to the information of the parking space acquired in real time; and if the obstacle exists in the part of the parking track where the vehicle does not run and/or the parking space is changed, judging that the part of the parking track where the vehicle does not run is not feasible.
Further, the detection module is further configured to: acquiring real-time surrounding environment information of the vehicle according to the image acquisition device; or acquiring the surrounding environment information of the real-time vehicle according to the server; wherein the surrounding environment information of the vehicle includes: relative position information between the vehicle and the parking space and/or relative position information between the vehicle and surrounding obstacles.
Further, the detection module is further configured to: acquiring real-time parking space information of a vehicle according to an image acquisition device; or acquiring the information of the parking space of the real-time vehicle according to the server; wherein, the information of the parking space comprises any one or combination of more of the following information: the parking space information comprises space size information of the parking space, position information of the parking space and vehicle information around the parking space.
Further, the starting module 20 is further configured to: before starting the automatic parking function, calculating an automatic parking starting point according to the real-time acquired surrounding environment information of the vehicle and the information of the parking space; the starting module 20 is specifically configured to: when the vehicle reaches the automatic parking starting point, the automatic parking function is started.
Further, the starting module 20 is further configured to: before the automatic parking function is started, a parking track is planned according to the real-time collected surrounding environment information and parking space information of the vehicle, the automatic parking starting point and the pose of the vehicle.
It should be noted that the foregoing explanation of the embodiment of the automatic parking method is also applicable to the automatic parking apparatus of the embodiment, and is not repeated herein.
In summary, according to the automatic parking device provided in the embodiment of the present invention, the starting module starts the automatic parking function to control the vehicle to travel according to the parking track, the determining module determines whether the non-driving portion of the vehicle in the parking track is feasible according to the real-time collected information of the surrounding environment of the vehicle and the information of the parking space, and if the non-driving portion of the vehicle in the parking track is not feasible, the planning module replans the parking track according to the information of the surrounding environment of the vehicle and the information of the parking space. Therefore, the parking device provided by the embodiment of the invention can identify whether the part of the planned track which is not driven is feasible in real time, and adjust the parking track when the part is not feasible, so that the uncertainty of the parking track during parking is effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively finished in real time, and the user experience is improved.
As shown in fig. 4, the embodiment of the present invention further provides a vehicle 200 including the automatic parking apparatus 100.
According to the vehicle disclosed by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
In order to implement the above embodiment, the present invention further provides an in-vehicle electronic device, including: the automatic parking system comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the program to realize the automatic parking method of the embodiment.
According to the vehicle-mounted electronic equipment provided by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
In order to implement the above-described embodiments, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program, which is executed by a processor, for implementing the automatic parking method of the foregoing embodiments.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
In order to implement the foregoing embodiments, the present invention further provides a computer program product, wherein when the instructions in the computer program product are executed by a processor, the automatic parking method of the foregoing embodiments is executed.
According to the computer program product provided by the embodiment of the invention, the uncertainty of the parking track during parking can be effectively reduced, the feasibility of the parking track is improved, the automatic parking can be effectively completed in real time, and the user experience is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (18)
1. An automatic parking method, characterized by comprising the steps of:
starting an automatic parking function, and controlling the vehicle to run according to a parking track;
judging whether the part of the parking track where the vehicle does not run is feasible according to the surrounding environment information of the vehicle and the information of the parking space which are acquired in real time;
if not, replanning the parking track according to the surrounding environment information of the vehicle and the information of the parking space.
2. The automatic parking method according to claim 1, further comprising:
and tracking the preset parking track in real time to monitor whether the actual parking track of the vehicle is within the set range of the preset parking track.
3. The automatic parking method according to claim 1, wherein the judging whether the part of the parking trajectory where the vehicle is not driven is feasible according to the surrounding environment information of the vehicle and the information of the parking space collected in real time comprises:
judging whether an obstacle exists in the part, which does not run, of the vehicle in the parking track according to the surrounding environment information of the vehicle acquired in real time;
judging whether the parking space is changed or not according to the information of the parking space acquired in real time;
and if the part of the parking track where the vehicle does not run has obstacles and/or the parking space is changed, judging that the part of the parking track where the vehicle does not run is not feasible.
4. The automatic parking method according to claim 1, wherein the real-time collected information on the surroundings of the vehicle includes:
acquiring real-time surrounding environment information of the vehicle according to the image acquisition device; or
Acquiring real-time surrounding environment information of the vehicle according to a server;
wherein the surrounding environment information of the vehicle includes:
relative position information between the vehicle and the parking space and/or relative position information between the vehicle and surrounding obstacles.
5. The automatic parking method according to claim 1, wherein the information of the parking space of the vehicle collected in real time includes:
acquiring real-time parking space information of a vehicle according to an image acquisition device; or
Acquiring real-time parking space information of a vehicle according to a server;
wherein the information of the parking space comprises any one or combination of more of the following information:
the parking space information comprises space size information of the parking space, position information of the parking space and vehicle information around the parking space.
6. The automatic parking method according to claim 1, further comprising, before the starting of the automatic parking function:
calculating an automatic parking starting point according to the surrounding environment information of the vehicle and the parking space information acquired in real time;
the starting of the automatic parking function includes:
and starting the automatic parking function when the vehicle reaches the automatic parking starting point.
7. The automatic parking method according to claim 6, further comprising, before the starting of the automatic parking function:
and planning the parking track according to the acquired surrounding environment information of the vehicle and the information of the parking space, the automatic parking starting point and the pose of the vehicle in real time.
8. An automatic parking device, comprising:
the detection module is used for acquiring the ambient environment information of the vehicle and the parking space information;
the starting module is used for starting the automatic parking function and controlling the vehicle to run according to the parking track;
the judging module is used for judging whether the part of the vehicle which does not run in the parking track is feasible or not according to the real-time collected surrounding environment information of the vehicle and the information of the parking space;
and the planning module is used for re-planning the parking track according to the surrounding environment information of the vehicle and the information of the parking space if the part of the parking track where the vehicle does not run is not feasible.
9. The automatic parking device according to claim 8, further comprising:
and the tracking module is used for tracking the preset parking track in real time so as to monitor whether the actual parking track of the vehicle is located in the set range of the preset parking track.
10. The automatic parking device according to claim 8, wherein the determination module is specifically configured to:
judging whether an obstacle exists in the part, which does not run, of the vehicle in the parking track according to the surrounding environment information of the vehicle acquired in real time;
judging whether the parking space is changed or not according to the information of the parking space acquired in real time;
and if the part of the parking track where the vehicle does not run has obstacles and/or the parking space is changed, judging that the part of the parking track where the vehicle does not run is not feasible.
11. The automatic parking device according to claim 8, wherein the detection module is further configured to:
acquiring real-time surrounding environment information of the vehicle according to the image acquisition device; or
Acquiring real-time surrounding environment information of the vehicle according to a server;
wherein the surrounding environment information of the vehicle includes:
relative position information between the vehicle and the parking space and/or relative position information between the vehicle and surrounding obstacles.
12. The automatic parking device according to claim 8, wherein the detection module is further configured to:
acquiring real-time parking space information of a vehicle according to an image acquisition device; or
Acquiring real-time parking space information of a vehicle according to a server;
wherein the information of the parking space comprises any one or combination of more of the following information:
the parking space information comprises space size information of the parking space, position information of the parking space and vehicle information around the parking space.
13. The automatic parking device according to claim 8, wherein the starting module is further configured to:
before the automatic parking function is started, calculating an automatic parking starting point according to the real-time collected surrounding environment information of the vehicle and the information of the parking space;
the starting module is specifically configured to: and starting the automatic parking function when the vehicle reaches the automatic parking starting point.
14. The automatic parking device according to claim 13, wherein the starting module is further configured to:
before the automatic parking function is started, the parking track is planned according to the real-time collected surrounding environment information of the vehicle, the information of the parking space, the automatic parking starting point and the pose of the vehicle.
15. A vehicle characterized by comprising an automatic parking device according to any one of claims 8 to 14.
16. An in-vehicle electronic apparatus, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the automatic parking method according to any one of claims 1 to 7.
17. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor for implementing the automatic parking method according to any one of claims 1 to 7.
18. A computer program product, characterized in that instructions in the computer program product, when executed by a processor, perform the method for automatic parking according to any one of claims 1 to 7.
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| CN201810699475.2A CN110654373A (en) | 2018-06-29 | 2018-06-29 | Automatic parking method and device and vehicle |
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| CN201810699475.2A CN110654373A (en) | 2018-06-29 | 2018-06-29 | Automatic parking method and device and vehicle |
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