CN111231944B

CN111231944B - Automatic parking method

Info

Publication number: CN111231944B
Application number: CN202010044482.6A
Authority: CN
Inventors: 杨锋; 陈杰; 陈书聪
Original assignee: Shenzhen Lan You Technology Co Ltd
Current assignee: Shenzhen Lan You Technology Co Ltd
Priority date: 2020-01-15
Filing date: 2020-01-15
Publication date: 2021-07-30
Anticipated expiration: 2040-01-15
Also published as: CN111231944A

Abstract

The invention discloses an automatic parking method, which comprises the following steps: searching a parking place; recognizing obstacles and maintaining a safe distance; and parking the car in the parking space according to the identified obstacles and the kept safe distance. The automatic parking system can realize the mass production and development of automatic parking at lower cost, and realizes the automatic parking function by utilizing the control system of the vehicle. On the basis, the technical problems of pure ultrasonic radar positioning, automatic dynamic safety range adjustment, remote control parking and the like are solved.

Description

Automatic parking method

Technical Field

The invention relates to the technical field of automatic driving, unmanned driving and automatic control of passenger vehicles, in particular to an automatic parking method.

Background

The automatic parking is a technology for realizing automatic parking of a vehicle to a target storage position by sensing the surrounding environment and the pose of the vehicle body by using a sensor. The common technical scheme is that the automatic parking of the vehicle is realized by controlling a steering system and a longitudinal movement control system of the vehicle on the basis of a vehicle model of a drive-by-wire system or a vehicle with an additional camera and a laser radar. Although the conventional scheme can realize the automatic parking function, the conventional scheme also has the problems that too many sensors are added for realizing the purpose, or the vehicle needs to be modified, so that only technical verification can be carried out, and mass production cannot be realized.

Disclosure of Invention

The invention provides an automatic parking method, which can realize mass production development of automatic parking at lower cost and realize an automatic parking function by utilizing a control system of a vehicle. On the basis, the technical problems of pure ultrasonic radar positioning, automatic dynamic safety range adjustment, remote control parking and the like are solved.

In order to solve the above problem, the present application provides an automatic parking method, including:

searching a parking place;

recognizing obstacles and maintaining a safe distance;

and parking the car in the parking space according to the identified obstacles and the kept safe distance.

Wherein, search for the parking stall includes:

periodically recording the obstacle distance detected by ultrasonic waves, and recording as a first angular point of a found parking space when a jump value of the obstacle distance value from small to large in two adjacent periods exceeds a preset size;

when the obstacle distance value jumps from large to small in two adjacent periods and exceeds a preset size, recording the jump as a second angular point for finding the parking space;

forming an envelope line according to the first angular point, the second angular point and the barrier distance between the first angular point and the second angular point;

and if the envelope line accords with the size and shape standards of the preset parking space, the parking space is found and the parking space is numbered and recorded.

Wherein the identifying an obstacle and maintaining a safe distance comprises:

dynamically controlling a safe distance;

identifying parking space obstacles, wherein the shape of a rear obstacle is identified according to a plurality of adjacent ultrasonic radars; parking according to the shape of the recognized obstacle;

and identifying a moving obstacle, wherein whether the moving obstacle is far away during parking is judged, if so, the vehicle continues to park after waiting for the moving obstacle to leave the parking space, and if not, the path is switched.

Wherein the dynamically controlling the safe distance comprises:

controlling the running speed of the vehicle according to the relation between the distance between the vehicle body and the periphery and the safe distance;

and dynamically controlling the safety distance according to the relation among the movement speeds of the inner and outer angular points of the vehicle body, the relative angle between the vehicle body and the parking space and the movement tracks of the inner and outer angular points.

Wherein, the control vehicle's speed of traveling according to the relation of the distance of automobile body and periphery and safe distance includes:

acquiring the vertical distance between the vehicle body and the periphery through an ultrasonic radar;

judging whether the vertical distance is within a first-level safety range or not;

if the vertical distance is within the primary safety range, decelerating the vehicle;

if the vertical distance is not within the primary safety range, continuously judging whether the vertical distance is within a secondary safety range;

and if the vertical distance is within the secondary safety range, braking the vehicle and stopping the vehicle.

Wherein, according to the relation of the inside and outside angular point moving speed of automobile body, the relative angle of automobile body and parking stall, the motion trail at inside and outside angular point control the safe distance dynamically, include:

obtaining the motion direction of the ultrasonic radar at the point according to the relation between the motion speed of the inner and outer angular points, the relative angle between the vehicle body and the parking space and the motion trail of the inner and outer angular points

Judging whether the motion direction of the point where the ultrasonic radar is located faces the interior of the vehicle body;

if the moving direction of the point where the ultrasonic radar is located faces the interior of the vehicle body, reducing the value of the safety range;

judging whether the motion speed of the inner and outer angular points is increased or not;

if the motion speed of the inner corner and the outer corner is increased, the value of the safety range is increased;

acquiring the overlapping degree of the vehicle body and the parking space according to the relation among the motion speed of the inner and outer angular points, the relative angle between the vehicle body and the parking space and the motion tracks of the inner and outer angular points;

judging whether the overlapping degree is increased;

if the overlap degree is increased, reducing the value of the safety range;

acquiring the orientation of a target parked in the parking space according to the relation among the motion speeds of the inner and outer angular points, the relative angle between the vehicle body and the parking space and the motion tracks of the inner and outer angular points;

judging whether the orientation of the vehicle body is close to the target orientation of the parking space;

and if the orientation of the vehicle body is close to the target orientation of the parking space, reducing the value of the safety range.

Wherein, parking to the parking stall according to the obstacle of discerning and the safe distance that keeps includes:

parking in a vertical parking place and an oblique parking place;

parking in parallel parking places;

parking in the vertical parking space and the inclined parking space;

parking in parallel parking places;

and remotely controlling the vehicle to move forward and backward.

Wherein, perpendicular parking stall and oblique side parking stall are berthed, include:

the vertical parking and the diagonal parking are performed with a unified planning algorithm to plan the path;

the planned path adopts single-step parking planning firstly, and if the initial condition does not meet the condition of the single-step parking planning, the planned path adopts multi-step parking planning;

only parking from the entrance of the parking space without overlapping with other boundaries of the parking space under the condition of no obstacles around the parking space;

when a larger error occurs in positioning, parking is realized through multi-step path adjustment by means of detecting the shape of the obstacle;

when a vehicle enters a garage, if the vehicle body reaches a target angle but does not completely enter the parking space frame line, when an obstacle exists behind the vehicle body, the function of ending the parking process in advance can be triggered, and the parking process can be ensured to be complete for the parking space with sundries or walls in the garage;

in the parking process, if the vehicle door is opened or the gear shift lever is manually switched, immediately and actively parking, engaging the P gear and exiting the parking mode, and transferring all control authorities to a driver;

in the parking process, if the brake pedal is detected to be manually operated, the control authority of the brake pedal is given to a driver under the condition that the vehicle speed is not higher than the current target vehicle speed, and the brake pedal is controlled again after no manual operation is detected;

in the parking process, if the steering wheel is detected to be manually operated, the control authority of the steering wheel is handed over to the driver, the vehicle speed control authority is not handed over and is still controlled by a parking system, after the vehicle stops when meeting an obstacle, the parking mode is exited, and all authorities are handed over to the driver;

in the parking process, if the accelerator pedal is detected to be manually operated, the target vehicle speed is actively increased, and after the manual operation signal of the accelerator pedal is detected to disappear, the original target vehicle speed is restored;

and recording the path switching time as one-time parking time each time, and finishing the parking program if the parking is still failed after the time is accumulated to the preset time, thereby prompting the failure of parking.

Wherein, parallel parking stall is berthed, includes:

when the inner side of the parking space is detected to be a road shoulder or a wall, stopping at the position of the inner side wheel away from the road shoulder or the wall by a preset distance by taking the inner side road shoulder or the wall as reference during parking; when the inner side of the parking space is detected to be an empty ground or not a complete wall or a road shoulder, the parking space is stopped at the position where the outer wheels are aligned with the entrance line by taking the entrance line of the parking space as the standard; if the parking space is a given surrounding unobstructed wire frame parking space, the parking space is stopped in the middle of the wire frame.

In the parking process, a vehicle door is opened or a gear shift lever is manually switched, the vehicle is immediately and actively parked, a P gear is engaged, the parking mode is exited, and all control authorities are handed over to a driver;

in the parking process, if the accelerator pedal is detected to be manually operated, the target vehicle speed is actively increased, and after the manual operation signal of the accelerator pedal is detected to disappear, the original target vehicle speed is restored again.

Wherein, perpendicular parking stall and oblique side parking stall are berthed out, include:

confirming that there is no obstacle ahead of the parking-out direction, and then performing parking-out.

The vehicle is driven out of a parking space entrance line in a straight line, two radars positioned on the side detect the distance of an obstacle on the side of the vehicle, when the obstacle on the side disappears, the vehicle moves forwards for a preset distance, and then the vehicle is parked in a turning way until the vehicle body is parallel to the road direction, and the vehicle control authority is handed over to a driver;

when an obstacle is encountered in the parking-out process, switching the parking-out path, adjusting the multi-step path, parking out until the vehicle body is parallel to the road direction, transferring the vehicle control authority to the driver, and completing the parking-out process;

Wherein, parallel parking stall is berthed out, includes:

confirming the distance between obstacles in the front and the back through an ultrasonic radar, and if the distance in the front is sufficient, directly steering and parking out; if the front distance is insufficient and the rear distance is proper, the straight line retreats to the front and is in sufficient distance, and then the vehicle is directly steered and parked out;

in the process of steering parking, when an obstacle exists in the front or the rear of the vehicle, the vehicle is parked to switch the driving direction, the angle of the parked vehicle is increased until the vehicle runs through the front side line of the parking space, and the vehicle is moved to be parallel to the parking space, and then the control authority of the vehicle is handed over to a driver;

Wherein, the remote control vehicle moves forward and backward, includes:

in the remote control process, the signal needs to be sent continuously, and if the signal is interrupted, the vehicle is braked immediately;

if the remote control signal is continuously effective, active braking is carried out as long as an obstacle in front of the controlled driving direction is within a safe range, and the remote control signal is ignored; after the barrier disappears, the remote control signal needs to be triggered again, and the vehicle continues to move;

after braking, no remote control signal is received within a first preset time, the gear is shifted back to the P gear to continue waiting for a second preset time, and if no remote control signal exists in the period, the remote control advance and retreat function is exited; if a remote control signal exists in the period, the gear D or the gear R is switched back from the gear P, and a remote control instruction is executed;

in the parking process, a vehicle door is opened or a gear shift lever is manually switched, the vehicle is immediately and actively parked, a P gear is engaged, the parking mode is exited, and all control authorities are handed over to a driver.

The beneficial effect of this application is:

the capacity of automatically parking the vehicle into the parking space after the roadside or the parking lot finds the empty parking space is realized; the ability to park in a narrow parking space environment is achieved; the capability of uniformly scheduling the vehicle control system by multiple parking functions according to the requirements of users is realized; the capability of realizing parking in and parking out only by the ultrasonic radar and the wheel speed sensor is realized; after the GPS is accessed or the indoor positioning is realized, the automatic passenger-replacing parking function of autonomous driving and automatic parking is further realized; the parking space and the parking type can be automatically detected, and the burden of a user for observing the surrounding environment and then selecting the parking mode is relieved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

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 parking space searching provided by the embodiment of the present invention;

FIG. 3 is a flow chart of identifying obstacles and maintaining a safe distance provided by an embodiment of the present invention;

FIG. 4 is a schematic view of an inboard wall or shoulder-less alignment provided by an embodiment of the present invention;

FIG. 5 is a schematic view of an embodiment of the invention providing alignment of the inside wall or shoulder;

fig. 6 is a schematic diagram illustrating an alignment manner when a parking space with wire frames is provided in an embodiment of the present invention;

fig. 7 is a flowchart of parking according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. 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 one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The application provides an automatic parking method, which comprises the following steps: searching a parking place; recognizing obstacles and maintaining a safe distance; and parking the car in the parking space according to the identified obstacles and the kept safe distance. The following are detailed below.

Referring to fig. 1, fig. 1 is a flowchart illustrating an automatic parking method according to an embodiment of the present invention, where the automatic parking method includes steps S1-S3:

s1, searching parking spaces; step S1 includes steps S11-S14:

s11, periodically recording the obstacle distance detected by the ultrasonic waves, and recording the first angular point of the found parking space when the jump value of the obstacle distance value from small to large in two adjacent periods exceeds the preset size.

In this embodiment, referring to fig. 2, fig. 2 is a flowchart of parking space search provided in an embodiment of the present invention, where APA ultrasonic radars on two sides of a vehicle body are used to detect a surrounding environment of the vehicle by adjusting an emitting surface of the ultrasonic radar to a special angle, and the parking space search is automatically triggered during a low-speed driving process of the vehicle. By recording the obstacle distance detected by ultrasonic waves, when the obstacle distance value jumps from small to large in two adjacent periods to exceed a certain size, the first angular point of the parking space is recorded.

And S12, recording the second angular point of the found parking space when the jump of the obstacle distance value from big to small in two adjacent periods exceeds the preset size.

In this embodiment, when a jump of the obstacle distance value from large to small in two adjacent periods exceeds a certain size, the second angular point of the parking space is recorded as the found parking space.

And S13, forming an envelope curve according to the first corner point, the second corner point and the barrier distance between the first corner point and the second corner point.

In this embodiment, the first and second corner points appear in sequence, and form an envelope in combination with the distance between the two corner points.

And S14, if the envelope line accords with the size and shape standards of the preset parking space, determining that the parking space is searched and carrying out parking space numbering and recording.

In this embodiment, if the envelope conforms to the size and shape standards of the parking space, the parking space is found and the number and record of the parking space are performed, and meanwhile, the parking mode (parallel parking or vertical parking, only parallel parking, only vertical parking) which can be performed by the parking space is automatically identified, when the parking space is wide and parallel parking and vertical parking are allowed to be performed, the identification result is fed back to the user for selection, and after the user selects the parking mode, the parking space parameters are provided according to the selected parking space. The parking space parameters comprise: the width of the parking space entrance, the depth of the parking space, the distance, the direction and the angle of the parking space relative to the vehicle. The left side and the right side can simultaneously and independently identify the parking spaces, and the left side and the right side can respectively record three effective parking spaces.

S2, identifying obstacles and keeping a safe distance; step S2 includes steps S21-S23:

s21, dynamically controlling the safety distance; step S21 includes steps S211-S212:

s211, controlling the running speed of the vehicle according to the relation between the distance between the vehicle body and the periphery and the safe distance; step S211 includes steps S2111-S2115:

s2111, acquiring the vertical distance between the vehicle body and the periphery through an ultrasonic radar.

In this embodiment, the safety range refers to the minimum distance between the surface of the vehicle body and the obstacle to avoid collision, and when the ultrasonic radar detects that the vehicle and the obstacle approach to the threshold value of the safety range, the vehicle must be immediately braked to stop to prevent collision. The obstacle identification comprises the identification of moving obstacles, fixed obstacles and obstacles around the parking space by using ultrasonic radar. The safety range and obstacle recognition are performed throughout the entire parking process.

S2112, judging whether the vertical distance is within a primary safety range.

In this embodiment, referring to fig. 3, fig. 3 is a flowchart of identifying obstacles and maintaining a safe distance according to an embodiment of the present invention. The safety range is divided into two levels, the first level safety range is within the range of 50 cm-80 cm of the ultrasonic radar, the vehicle is decelerated but not stopped at the moment, and the second level safety range is within the range of 50cm, and the vehicle is stopped at the moment.

S2113, if the vertical distance is within the primary safety range, decelerating the vehicle.

In this embodiment, the first-level safety range is within a range of 50cm to 80cm of the ultrasonic radar, and the vehicle is decelerated but not stopped at this time.

S2114, if the vertical distance is not within the primary safety range, continuously judging whether the vertical distance is within a secondary safety range.

In this embodiment, the first-level safety range is within a range of 50cm to 80cm of the ultrasonic radar, and the second-level safety range is within a range of 50 cm.

S2115, if the vertical distance is within the secondary safety range, braking the vehicle and stopping the vehicle.

In this embodiment, the secondary safety range is within 50cm, and the vehicle is braked and stopped at this time. 50cm is the threshold value of the primary and secondary safety ranges under normal conditions. The dynamic safety range is the threshold value for automatically adjusting this safety range during parking.

S212, dynamically controlling the safety distance according to the relation among the movement speed of the inner and outer angular points of the vehicle body, the relative angle between the vehicle body and the parking space and the movement tracks of the inner and outer angular points. Step S212 includes steps S21201-S21211:

s21201, obtaining the motion direction of the ultrasonic radar according to the relation of the motion speed of the inner and outer angular points, the relative angle of the vehicle body and the parking space and the motion trail of the inner and outer angular points.

In the embodiment, the safety ranges of the four corners of the vehicle are dynamically controlled, and when the vehicle turns, the safety range threshold of each ultrasonic radar is automatically adjusted according to the movement speed of the ultrasonic radar at the four inner and outer angular points (left front, right front, left back and right back) of the vehicle body, the relative angle between the vehicle body and the parking space and the change of the movement track of the angular points.

And S21202, judging whether the motion direction of the point where the ultrasonic radar is located faces the inside of the vehicle body.

And S21203, if the motion direction of the point where the ultrasonic radar is located faces the inside of the vehicle body, reducing the value of the safety range.

In this embodiment, if the moving direction of a point where a certain ultrasonic radar is located is toward the inside of the vehicle body, the safety range threshold is decreased.

And S21204, judging whether the motion speeds of the inner corner point and the outer corner point are increased or not.

And S21205, if the motion speed of the inner corner and the outer corner is increased, increasing the value of the safety range.

In this embodiment, the safety range threshold increases as the movement speed increases.

S21206, obtaining the overlapping degree of the vehicle body and the parking space according to the relation between the motion speed of the inner and outer angular points, the relative angle between the vehicle body and the parking space and the motion tracks of the inner and outer angular points.

S21207, judging whether the overlapping degree is increased.

And S21208, if the overlapping degree is increased, reducing the value of the safety range.

In this embodiment, the larger the overlapping degree between the vehicle body and the parking space is, the smaller the threshold value is. The threshold has a minimum value of 30cm and a maximum value of 50 cm.

S21209, acquiring the orientation of a target parked in the parking space according to the relation among the motion speeds of the inner and outer angular points, the relative angle between the vehicle body and the parking space and the motion tracks of the inner and outer angular points;

s21210, judging whether the orientation of the vehicle body is close to the target orientation of the parking space;

and S21211, if the orientation of the vehicle body is close to the target orientation of the parking space, reducing the value of the safety range.

In this embodiment, the closer the orientation of the vehicle body is to the orientation of the target parked in the parking space, the smaller the threshold value. The threshold has a minimum value of 30cm and a maximum value of 50 cm.

S22, recognizing the parking space obstacle, wherein the shape of the rear obstacle is recognized according to a plurality of adjacent ultrasonic radars; parking the vehicle according to the shape of the recognized obstacle.

In the embodiment, in the parking process, whether the obstacle is the obstacle around the parking space or not can be identified through the matching of the adjacent ultrasonic radars and the coordinates of the vehicle body, so that the path is accurately switched to realize parking. The scheme of identification is as follows: when an obstacle is detected near the entrance of the target parking space, the shape of the obstacle behind the vehicle can be judged according to a plurality of adjacent ultrasonic radar data in the direction of the detected obstacle, and therefore whether the obstacle is other vehicles or obstacles beside the target parking space is identified.

And S23, identifying the moving obstacle, wherein, judging whether the moving obstacle is far away during parking, if so, continuing parking after waiting for the moving obstacle to leave the parking space, and if not, switching the path.

In this embodiment, if the distance between the obstacle is far away after the vehicle is parked, the vehicle continues to park after the obstacle disappears, and if the position of the obstacle remains unchanged, the route is switched.

And S3, parking the vehicle in the parking space according to the identified obstacles and the kept safe distance. Step S3 includes steps S31-S35:

in this embodiment, the automatic parking is divided into five functions, namely, vertical parking and diagonal parking, parallel parking, vertical parking, parallel parking, and remote control, and one of the parking functions is executed according to the selection of the user.

S31, parking in the vertical parking space and the inclined parking space; step S31 includes steps S3101-S3110:

in this embodiment, the position relationship between the midpoint of the rear axle of the vehicle and the center of the parking space is first obtained, which includes the distance along the driving direction of the road, the distance perpendicular to the driving direction of the road, and the angle difference between the orientation of the parking space and the orientation of the initial state of the vehicle body. A travel path is then planned which can be parked.

S3101, the path planning is carried out by using a unified planning algorithm for vertical parking and diagonal parking.

In this embodiment, the path planning is performed by using a unified planning algorithm in the prior art for the vertical parking and the diagonal parking.

S3102, the planned path adopts single-step parking planning, if the initial condition does not meet the condition of the single-step parking planning, the planned path adopts multi-step parking planning;

s3103, only parking from the entrance of the parking space without overlapping with other boundaries of the parking space under the condition that no obstacles are around the parking space;

s3104, when a large error occurs in positioning, parking is realized through multi-step path adjustment by detecting the shape of the obstacle;

s3105, when the vehicle enters the garage, if the vehicle body reaches the target angle but does not completely enter the parking space frame line, when the rear part has an obstacle, the function of ending the parking process in advance can be triggered, and the parking process can be ensured to be complete for the parking space with sundries or walls in the garage;

s3106, in the parking process, if the vehicle door is opened or the gear shift lever is manually switched, immediately and actively parking, engaging the gear P, exiting the parking mode, and transferring all control authorities to the driver;

s3107, in the parking process, if the brake pedal is detected to be manually operated, the control authority of the brake pedal is given to a driver under the condition that the vehicle speed is not higher than the current target vehicle speed, and the brake pedal is controlled again after no manual operation is detected;

s3108, in the parking process, if the steering wheel is detected to be manually operated, the control authority of the steering wheel is handed over to the driver, the vehicle speed control authority is not handed over and is still controlled by a parking system, after the vehicle stops when meeting an obstacle, the parking mode is exited, and all authorities are handed over to the driver;

s3109, in the parking process, if the accelerator pedal is detected to be manually operated, the target vehicle speed is actively increased, and after the manual operation signal of the accelerator pedal is detected to disappear, the original target vehicle speed is restored again;

and S3110, recording the path switching time as one parking time, and finishing the parking program if the parking is still failed after the time is accumulated to the preset time, so as to prompt the failure of the parking.

In this embodiment, each time the route is switched is recorded as the number of parking times, and if the route still cannot be parked after the number of times is accumulated to seven times, the parking program is ended, and failure in parking is prompted.

S32, parking in parallel parking places; step S32 Steps S321-S329:

S321, planning the planned path by adopting single-step parking, and if the initial condition does not meet the condition of the single-step parking planning, planning the planned path by adopting multi-step parking;

s322, only parking from the entrance of the parking space without overlapping with other boundaries of the parking space under the condition that no obstacles are arranged around the parking space;

s323, when a larger error occurs in positioning, parking is realized through multi-step path adjustment by means of the detection of the shape of the obstacle;

s324, when the inner side of the parking space is detected to be a road shoulder or a wall, stopping at the position of the inner wheel away from the road shoulder or the wall by a preset distance by taking the inner road shoulder or the wall as reference during parking; when the inner side of the parking space is detected to be an empty ground or not a complete wall or a road shoulder, the parking space is stopped at the position where the outer wheels are aligned with the entrance line by taking the entrance line of the parking space as the standard; if the parking space is a given surrounding unobstructed line frame parking space, stopping in the middle of the line frame;

in the present embodiment, referring to fig. 4-6, fig. 4 is a schematic view illustrating an alignment mode without a wall or a shoulder on the inner side according to an embodiment of the present invention; FIG. 5 is a schematic view of an embodiment of the invention providing alignment of the inside wall or shoulder; fig. 6 is a schematic diagram of an alignment method when there is a wire frame parking space provided in the embodiment of the present invention. When the inner side of the parking space is detected to be a road shoulder or a wall, stopping at the position of the inner side wheel 30cm away from the road shoulder or the wall when parking by taking the inner side road shoulder or the wall as reference; when the inner side of the parking space is detected to be an empty ground or not a complete wall or a road shoulder, the parking space is stopped at the position where the outer wheels are aligned with the entrance line by taking the entrance line of the parking space as the standard; if the parking space is a given surrounding unobstructed wire frame parking space, the parking space is stopped in the middle of the wire frame.

S325, in the parking process, a vehicle door is opened or a gear shifting lever is manually switched, immediately and actively parks, a P gear is engaged, the parking mode is exited, and all control authorities are handed over to a driver;

s326, in the parking process, if the brake pedal is detected to be manually operated, the control authority of the brake pedal is given to a driver under the condition that the vehicle speed is not higher than the current target vehicle speed, and the brake pedal is controlled again after no manual operation is detected;

s327, in the parking process, if the steering wheel is detected to be manually operated, the control authority of the steering wheel is handed over to the driver, the vehicle speed control authority is not handed over and is still controlled by a parking system, after the vehicle stops when meeting an obstacle, the parking mode is exited, and all authorities are handed over to the driver;

s328, in the parking process, if the accelerator pedal is detected to be manually operated, actively increasing the target vehicle speed, and after the manual operation signal of the accelerator pedal is detected to disappear, restoring the original target vehicle speed again;

and S329, recording the path switching time as one-time parking time, and finishing the parking program if the parking is still failed after the time is accumulated to the preset time, so as to prompt the failure of parking.

S33, parking in a vertical parking space and an oblique parking space; step S33 includes steps S331-S338:

s331, confirming that no obstacle exists in front of the berthing-out direction, and then performing berthing-out;

s332, enabling the vehicle to run straight out of the parking space entrance line, detecting the distance between the side obstacles of the vehicle by two radars positioned on the sides, moving forwards for a preset distance after the side obstacles disappear, and then turning to park out until the vehicle body is parallel to the road direction, and transferring the vehicle control authority to the driver.

In this embodiment, the vehicle travels straight out of the parking space entrance line, the two radars located on the sides detect the distance between obstacles on the side of the vehicle, and when the obstacles on the side disappear, the vehicle moves forward by a certain distance (the distance is based on the direction capable of turning and parking), and then turns and parks until the vehicle body is parallel to the road direction, and the vehicle control authority is handed over to the driver.

S333, when an obstacle is encountered in the parking-out process, switching the parking-out path, adjusting the parking-out path to enable the vehicle body to be parallel to the road direction through multi-step path adjustment, transferring the vehicle control authority to a driver, and completing the parking-out process;

s334, in the parking process, the vehicle door is opened or the gear shift lever is manually switched, immediately and actively parks, the P gear is engaged, the parking mode is exited, and all control authorities are handed over to a driver;

s335, in the parking process, if the brake pedal is detected to be manually operated, the control authority of the brake pedal is given to a driver under the condition that the vehicle speed is not higher than the current target vehicle speed, and the brake pedal is controlled again after no manual operation is detected;

s336, in the parking process, if the steering wheel is detected to be manually operated, the control authority of the steering wheel is handed over to the driver, the vehicle speed control authority is not handed over and is still controlled by a parking system, after the vehicle stops when meeting an obstacle, the parking mode is exited, and all authorities are handed over to the driver;

s337, in the parking process, if the accelerator pedal is detected to be manually operated, actively increasing the target vehicle speed, and after the manual operation signal of the accelerator pedal is detected to disappear, restoring the original target vehicle speed again;

and S338, recording the path switching times as one-time parking times each time, and finishing the parking program if the parking is still failed after the times are accumulated to the preset times, so as to prompt the failure of parking.

S34, parking in parallel parking places; step S34 includes steps S341-S347:

s341, confirming the distance between the obstacles in the front and the rear through an ultrasonic radar, and if the distance in the front is sufficient, directly steering to park out; if the front distance is insufficient and the rear distance is proper, the straight line retreats to the front and is in sufficient distance, and then the vehicle is directly steered and parked out;

s342, in the process of steering and parking, when an obstacle exists in front of or behind the vehicle, the vehicle is parked and the driving direction is switched, the angle of the parked vehicle is increased until the vehicle runs through the front side line of the parking space, and the vehicle is moved to be parallel to the parking space, and then the vehicle control authority is handed over to a driver;

in the embodiment, when an obstacle exists in front of or behind the vehicle during the steering parking process, the vehicle is parked to switch the driving direction, the angle of the parked vehicle is increased until the vehicle runs through the front edge line (obstacle) of the parking space, and the vehicle is moved to be parallel to the parking space, and then the vehicle control authority is handed over to the driver.

S343, in the parking process, the vehicle door is opened or the gear shift lever is manually switched, the vehicle is immediately and actively parked, the P gear is engaged, the parking mode is exited, and all control authorities are handed over to the driver;

s344, in the parking process, if the brake pedal is detected to be manually operated, the control authority of the brake pedal is given to a driver under the condition that the vehicle speed is not higher than the current target vehicle speed, and the brake pedal is controlled again after no manual operation is detected;

s345, in the parking process, if the steering wheel is detected to be manually operated, the control authority of the steering wheel is handed over to the driver, the vehicle speed control authority is not handed over and is still controlled by a parking system, after the vehicle stops when meeting an obstacle, the parking mode is exited, and all authorities are handed over to the driver;

s346, in the parking process, if the fact that the accelerator pedal is manually operated is detected, actively increasing the target vehicle speed, and after the fact that a manual operation signal of the accelerator pedal disappears is detected, restoring the original target vehicle speed again;

and S347, recording the path switching time as one-time parking time, and finishing the parking program if the parking is still failed after the time is accumulated to the preset time, so as to prompt the failure of parking.

And S35, remotely controlling the vehicle to move forward and backward. Steps S351-S354:

s351, in the remote control process, a signal needs to be sent continuously, and if the signal is interrupted, the vehicle is braked immediately;

s352, if the remote control signal is continuously effective, actively braking and neglecting the remote control signal as long as an obstacle in front of the controlled driving direction is in a safe range; after the barrier disappears, the remote control signal needs to be triggered again, and the vehicle continues to move;

s353, after braking, no remote control signal is received within a first preset time, the gear moves back to the P gear to continue waiting for a second preset time, and if no remote control signal exists in the period, the remote control advance and retreat function is exited; if a remote control signal exists in the period, the gear D or the gear R is switched back from the gear P, and a remote control instruction is executed;

in the embodiment, after 10 seconds after braking, no remote control signal is received, the P gear is shifted back to continue waiting for 10 seconds, and if no remote control signal exists in the period, the remote control advance and retreat function is exited; if a remote control signal exists in the period, the gear P is shifted back to the gear D or the gear R, and a remote control command is executed.

And S354, in the parking process, the vehicle door is opened or the gear shift lever is manually switched, the vehicle is immediately and actively parked, the P gear is engaged, the parking mode is exited, and all control authorities are handed over to the driver.

Based on the automatic parking method, the application provides the following two embodiments:

example one:

the driver controls the speed of the vehicle to be below 30km/h in the parking lot, the vehicle runs along the road in the parking lot, the parking space search on the left side and the parking space search on the right side are automatically triggered at the moment, the driver drives the vehicle for a certain distance, one parking space is found on the left side and one parking space is found on the right side, the driver parks the vehicle, and the parking system is started.

The parking system automatically displays the left parking space and the right parking space on the screen, the entrance width of the left parking space is smaller, only the key of the vertical parking mode is displayed, the entrance width of the right parking space is larger, the two keys of the vertical parking and the parallel parking are displayed, and the driver selects to park the right parking space vertically. After receiving a driver instruction, the parking system calculates a parking path and starts to park, in the parking process, four rear ultrasonic radars detect that an obstacle is behind the vehicle, the obstacle is judged to be the vehicle in a nearby parking space after parking, then the path is switched to move forwards to adjust the position of the vehicle body, the vehicle body retreats again, the tail of the vehicle is leaned into the entrance of a target parking space from the middle of two vehicles at two sides, and the vehicle is automatically parked into the parking space after three movements of retreating, advancing and retreating.

Example two:

the vehicle is stopped on the parking space originally, and the driver starts the parking-out system after entering the cab. The parking system automatically judges that the current surrounding environment only allows parallel parking from the left side or vertical parking from the front side according to the data of 12 ultrasonic radars arranged on the vehicle body, and at the moment, a left side parallel parking-out key and a front vertical parking-out key are displayed on a screen, and a driver selects the left side parallel parking-out.

The parking system detects that the front has enough distance, so the steering wheel is directly turned leftwards to execute a parking function, a driver feels that the vehicle speed is too slow in the period, the accelerator is stepped on, the target vehicle speed is increased by the parking system, after the accelerator pedal is released, the target vehicle speed is reduced to the default vehicle speed, and then the vehicle is parallel to the initial vehicle body angle again, the vehicle is parked, the driver is prompted to take over the vehicle, and the parking system is quitted.

In conclusion, the automatic parking method has the following technical effects:

1. the capacity of automatically parking the vehicle into the parking space after the roadside or the parking lot finds the empty parking space is realized;

2. the capability of parking in the environment of a narrow parking space (vertical parking: vehicle width +0.5 m; parallel parking: vehicle length +1.2m) is realized;

3. the capability of uniformly scheduling the vehicle control system by multiple parking functions according to the requirements of users is realized;

4. the capability of realizing parking in and parking out only by the ultrasonic radar and the wheel speed sensor is realized;

5. after the GPS is accessed or the indoor positioning is carried out, the automatic passenger-replacing parking function of autonomous driving and automatic parking is further realized;

6. the parking space and the parking type can be automatically detected, and the burden of a user for observing the surrounding environment and then selecting the parking mode is relieved.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic parking method, comprising:

searching a parking place;

recognizing obstacles and maintaining a safe distance;

parking the car in the parking space according to the identified obstacles and the kept safe distance;

the identifying an obstacle and maintaining a safe distance includes dynamically controlling the safe distance;

the dynamically controlling the safe distance comprises: controlling the running speed of the vehicle according to the relation between the distance between the vehicle body and the peripheral obstacles and the safe distance; dynamically controlling the safety distance according to the relation among the movement speeds of the inner and outer angular points of the vehicle body, the relative angle between the vehicle body and the parking space and the movement tracks of the inner and outer angular points;

the dynamic control of the safety distance according to the relationship among the motion speeds of the inner and outer angular points of the vehicle body, the relative angle between the vehicle body and the parking space and the motion tracks of the inner and outer angular points comprises the following steps:

acquiring the motion direction of the point where the ultrasonic radar is located according to the relation among the motion speeds of the inner and outer angular points, the relative angle between the vehicle body and the parking space and the motion tracks of the inner and outer angular points;

if the moving direction of the point where the ultrasonic radar is located faces the interior of the vehicle body, reducing the value of the safety distance;

if the motion speed of the inner corner and the outer corner is increased, the value of the safety distance is increased;

judging whether the overlapping degree is increased;

if the overlap increases, decreasing the value of the safe distance;

and if the orientation of the vehicle body is close to the orientation of the target of the parking space, reducing the value of the safety distance.

2. The automated parking method according to claim 1, wherein the searching for the parking space includes:

3. The automatic parking method according to claim 1, wherein the identifying an obstacle and maintaining a safe distance further comprises:

4. The automatic parking method according to claim 1, wherein the controlling of the traveling speed of the vehicle in accordance with the relationship between the distance between the vehicle body and the peripheral obstacle and the safe distance includes:

acquiring the vertical distance between a vehicle body and a peripheral obstacle through an ultrasonic radar;

5. The method for automatic parking according to claim 1, wherein the parking of the vehicle to the parking space based on the identified obstacle and the maintained safe distance comprises:

parking in a vertical parking place and an oblique parking place;

parking in parallel parking places;

parking in the vertical parking space and the inclined parking space;

parking in parallel parking places;

and remotely controlling the vehicle to move forward and backward.

6. The automatic parking method according to claim 5, wherein the parking in the vertical parking space and the diagonal parking space includes:

7. The automated parking method according to claim 5, wherein the parallel parking spaces are parked, comprising:

when the inner side of the parking space is detected to be a road shoulder or a wall, stopping at the position of the inner side wheel away from the road shoulder or the wall by a preset distance by taking the inner side road shoulder or the wall as reference during parking; when the inner side of the parking space is detected to be an empty ground or not a complete wall or a road shoulder, the parking space is stopped at the position where the outer wheels are aligned with the entrance line by taking the entrance line of the parking space as the standard; if the parking space is a given surrounding unobstructed line frame parking space, stopping in the middle of the line frame;

8. The method for automatic parking according to claim 5 wherein the parking out of the vertical parking space and the diagonal parking space comprises:

confirming that no obstacle exists in front of the parking-out direction, and then performing parking-out;

9. The method for automatic parking according to claim 5 wherein the parallel parking spaces are parked, comprising:

10. The automatic parking method according to claim 5, wherein the remotely controlling the vehicle to move forward and backward includes: