CN111301432A - Parking method and device for autonomous vehicle - Google Patents

Parking method and device for autonomous vehicle Download PDF

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Publication number
CN111301432A
CN111301432A CN202010139229.9A CN202010139229A CN111301432A CN 111301432 A CN111301432 A CN 111301432A CN 202010139229 A CN202010139229 A CN 202010139229A CN 111301432 A CN111301432 A CN 111301432A
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China
Prior art keywords
acceleration
preset
autonomous vehicle
determining
parking
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CN202010139229.9A
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Chinese (zh)
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CN111301432B (en
Inventor
谭益农
李旭健
郭鼎峰
朱振广
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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Priority to CN202210035054.6A priority Critical patent/CN114291100A/en
Priority to CN202210034908.9A priority patent/CN114291098A/en
Priority to CN202210035047.6A priority patent/CN114291099A/en
Priority to CN202010139229.9A priority patent/CN111301432B/en
Publication of CN111301432A publication Critical patent/CN111301432A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration

Abstract

The embodiment of the application discloses a parking method and a parking device for an automatic driving vehicle. One embodiment of the method comprises: in response to determining that the autonomous vehicle meets a preset parking condition, performing the following parking control steps: determining a variance of a plurality of consecutive actual accelerations of the autonomous vehicle; determining an acceleration to be employed by the autonomous vehicle based on the variance; based on the acceleration to be employed, a travel instruction is generated and output. In the scheme provided by the embodiment of the application, the variance of the acquired actual acceleration can represent the credibility of the acquired actual acceleration, so that based on the credibility, a proper parking strategy can be determined to obtain the acceleration required to be adopted for parking properly. Therefore, the embodiment of the application is beneficial to avoiding the problems that the determined first acceleration to be adopted is not proper and the smoothness is low due to the fact that the obtained actual acceleration is not credible, and further avoiding the problem that passengers feel frustrated.

Description

Parking method and device for autonomous vehicle
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to the technical field of internet, and particularly relates to a parking method and device for automatically driving a vehicle.
Background
The automatic driving vehicle (also called unmanned vehicle) can depend on the cooperation of artificial intelligence, visual calculation, radar, monitoring devices and the like, so that a vehicle-mounted computer can automatically and safely control the automatic driving vehicle without any human operation. During the driving of the autonomous vehicle, there is a large difference between the parking phase and the general driving phase. The space for parking is often narrow, so the control accuracy of the autonomous vehicle is highly required during the parking period.
In the related art, a general vehicle control method in a driving phase is generally directly applied to a parking phase of an autonomous vehicle.
Disclosure of Invention
The embodiment of the application provides a parking method and a parking device for an automatic driving vehicle.
In a first aspect, an embodiment of the present application provides a parking method for an autonomous vehicle, including: in response to determining that the driving state of the autonomous vehicle meets a preset parking condition, performing the following parking control steps: determining a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods; determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations; based on the first acceleration to be employed, a travel instruction is generated and output.
In some embodiments, determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations comprises: determining a first acceleration to be employed by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance from the target parking location in response to determining that the variance is below a preset variance threshold; and generating and outputting a travel instruction based on the first acceleration to be adopted, including: a travel instruction is generated for instructing the autonomous vehicle to increase the acceleration from the current actual acceleration to a first acceleration to be applied.
In some embodiments, the direction of the first acceleration to be employed is the direction of the braking force; determining a first acceleration to be employed by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance from the target parking location, comprising: determining a delay time of braking of a braking device of the autonomous vehicle; determining the speed of the automatic driving vehicle and the distance between the automatic driving vehicle and the target parking position after the delay time, wherein the speed and the distance are respectively the target speed and the target distance; a first acceleration to be employed by the autonomous vehicle is determined based on a ratio between a square of the target speed and the target distance.
In some embodiments, determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations comprises: in response to determining that the variance of the plurality of actual accelerations is not below the preset variance threshold, a first acceleration to be employed by the autonomous vehicle is determined based on a deviation of a current position of the autonomous vehicle from a planned position.
In some embodiments, determining a first acceleration to be employed by the autonomous vehicle based on a deviation of a current location of the autonomous vehicle from a planned location comprises: determining a deviation of a current position of the autonomous vehicle from the planned position as a first deviation; determining a speed difference value between the current speed and a reference speed of the automatic driving vehicle, and determining a position deviation caused by the speed difference value in a preset period; a sum of the first deviation and the positional deviation is determined and input to a designated controller, resulting in a first acceleration to be applied by the autonomous vehicle.
In some embodiments, in response to determining that the autonomous vehicle meets the preset parking condition, performing the following parking control steps, comprising: in response to the fact that the running state of the automatic driving vehicle is judged to accord with each preset parking condition in a plurality of continuous preset periods, executing the following parking control steps; wherein, each preset parking condition comprises at least two of the following items: the distance between the parking device and the target parking position is smaller than a first preset distance; the current speed is less than a first preset speed; the current reference acceleration is smaller than a preset acceleration threshold; and the method further comprises: and stopping executing the parking control step in response to judging that the running state of the autonomous vehicle does not conform to any one or more of the preset parking conditions in a plurality of continuous preset periods.
In some embodiments, the parking control step further comprises: in response to determining that the distance between the autonomous vehicle and the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of the braking force.
In some embodiments, determining a second acceleration to be used by the autonomous vehicle at the current preset period based on the acceleration to be used determined at the last preset period comprises: in response to the fact that the acceleration determined in the last preset period and to be adopted is determined to be in one of at least two preset value ranges, determining a preset increasing value corresponding to the one preset value range, wherein the preset increasing value is the product of a preset multiple corresponding to the one preset value range and a specified value; and determining the sum of the preset increment value and the acceleration to be adopted determined in the last preset period as a second acceleration to be adopted, wherein in at least two preset value ranges, the preset increment value corresponding to the preset value range with a larger value is smaller than the preset increment value corresponding to the preset value range with a smaller value.
In some embodiments, in response to determining that the driving state of the autonomous vehicle meets the preset parking condition, performing the following parking control steps, including: in response to the judgment that the autonomous vehicle meets the preset parking condition, determining a third acceleration to be adopted by the autonomous vehicle by using a preset acceleration determination rule, and judging whether the third acceleration to be adopted is more than a preset emergency brake acceleration value, wherein the direction of the third acceleration to be adopted is the direction of braking force; if the third acceleration to be adopted is not above the emergency brake acceleration value, executing a parking control step; and if the third acceleration to be adopted is higher than the emergency brake acceleration value, outputting a command comprising the emergency brake acceleration value.
In some embodiments, the direction of the first acceleration to be employed is the direction of the braking force; the parking control step further comprises: in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a first acceleration to be employed by the autonomous vehicle; in response to determining that the autonomous vehicle is currently downhill, a first acceleration to be employed by the autonomous vehicle is increased.
In a second aspect, an embodiment of the present application provides a parking apparatus for an autonomous vehicle, including: a determination unit configured to determine whether the autonomous vehicle meets a preset parking condition; a parking control unit configured to perform the following parking control steps in response to a determination that a running state of the autonomous vehicle conforms to a preset parking condition: determining a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods; determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations; based on the first acceleration to be employed, a travel instruction is generated and output.
In some embodiments, the parking control unit is further configured to perform determining the first acceleration to be taken by the autonomous vehicle based on a variance of the plurality of actual accelerations as follows: determining a first acceleration to be employed by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance from the target parking location in response to determining that the variance is below a preset variance threshold; and a parking control unit further configured to execute generating and outputting a travel instruction based on the first acceleration to be employed, as follows: a travel instruction is generated for instructing the autonomous vehicle to increase the acceleration from the current actual acceleration to a first acceleration to be applied.
In some embodiments, the direction of the first acceleration to be employed is the direction of the braking force; a parking control unit further configured to perform determining a first acceleration to be taken by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance to the target parking position as follows: determining a delay time of braking of a braking device of the autonomous vehicle; determining the speed of the automatic driving vehicle and the distance between the automatic driving vehicle and the target parking position after the delay time, wherein the speed and the distance are respectively the target speed and the target distance; a first acceleration to be employed by the autonomous vehicle is determined based on a ratio between a square of the target speed and the target distance.
In some embodiments, the parking control unit is further configured to perform determining the first acceleration to be taken by the autonomous vehicle based on a variance of the plurality of actual accelerations as follows: in response to determining that the variance of the plurality of actual accelerations is not below the preset variance threshold, a first acceleration to be employed by the autonomous vehicle is determined based on a deviation of a current position of the autonomous vehicle from a planned position.
In some embodiments, the parking control unit is further configured to perform determining the first acceleration to be taken by the autonomous vehicle based on a deviation of a current position of the autonomous vehicle from a planned position, as follows: determining a deviation of a current position of the autonomous vehicle from the planned position as a first deviation; determining a speed difference value between the current speed and a reference speed of the automatic driving vehicle, and determining a position deviation caused by the speed difference value in a preset period; a sum of the first deviation and the positional deviation is determined and input to a designated controller, resulting in a first acceleration to be applied by the autonomous vehicle.
In some embodiments, the parking control unit is further configured to perform the following parking control steps in response to determining that the driving state of the autonomous vehicle meets the preset parking condition: in response to the fact that the running state of the automatic driving vehicle is judged to accord with each preset parking condition in a plurality of continuous preset periods, executing the following parking control steps; wherein, each preset parking condition comprises at least two of the following items: the distance between the parking device and the target parking position is smaller than a first preset distance; the current speed is less than a first preset speed; the current reference acceleration is smaller than a preset acceleration threshold; and the apparatus further comprises: and an exit unit configured to stop executing the parking control step in response to determining that the running state of the autonomous vehicle does not comply with any one or more of the preset parking conditions for a plurality of consecutive preset periods.
In some embodiments, the parking control step further comprises: in response to determining that the distance between the autonomous vehicle and the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of the braking force.
In some embodiments, the determining of the second acceleration to be applied by the autonomous vehicle at the current preset period based on the acceleration to be applied determined at the last preset period in the parking control step includes: in response to the fact that the acceleration determined in the last preset period and to be adopted is determined to be in one of at least two preset value ranges, determining a preset increasing value corresponding to the one preset value range, wherein the preset increasing value is the product of a preset multiple corresponding to the one preset value range and a specified value; and determining the sum of the preset increment value and the acceleration to be adopted determined in the last preset period as a second acceleration to be adopted, wherein in at least two preset value ranges, the preset increment value corresponding to the preset value range with a larger value is smaller than the preset increment value corresponding to the preset value range with a smaller value.
In some embodiments, the parking control unit is further configured to perform the following parking control steps in response to determining that the driving state of the autonomous vehicle meets the preset parking condition: in response to the judgment that the autonomous vehicle meets the preset parking condition, determining a third acceleration to be adopted by the autonomous vehicle by using a preset acceleration determination rule, and judging whether the third acceleration to be adopted is more than a preset emergency brake acceleration value, wherein the direction of the third acceleration to be adopted is the direction of braking force; if the third acceleration to be adopted is not above the emergency brake acceleration value, executing a parking control step; and if the third acceleration to be adopted is higher than the emergency brake acceleration value, outputting a command comprising the emergency brake acceleration value.
In some embodiments, the direction of the first acceleration to be employed by the autonomous vehicle is the direction of the braking force; the parking control step further comprises: in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a first acceleration to be employed by the autonomous vehicle; in response to determining that the autonomous vehicle is currently downhill, a first acceleration to be employed by the autonomous vehicle is increased.
In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device to store one or more programs that, when executed by one or more processors, cause the one or more processors to implement a method as in any embodiment of a parking method for an autonomous vehicle.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method as in any of the embodiments of the parking method for an autonomous vehicle.
According to the parking scheme for the autonomous vehicle provided by the embodiment of the application, firstly, in response to the judgment that the running state of the autonomous vehicle meets the preset parking condition, the following parking control steps are executed: a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods is determined. Thereafter, a first acceleration to be employed by the autonomous vehicle is determined based on a variance of the plurality of actual accelerations. Then, based on the first acceleration to be employed, a travel instruction is generated and output. In the scheme provided by the embodiment of the application, the variance of the acquired actual acceleration can represent the credibility of the acquired actual acceleration, so that based on the credibility, a proper parking strategy can be determined to obtain the acceleration required to be adopted for parking properly. Therefore, the embodiment of the application is beneficial to avoiding the problems that the determined first acceleration to be adopted is not proper and the smoothness is low due to the fact that the obtained actual acceleration is not credible, and further avoiding the problem that passengers feel frustrated.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is an exemplary system architecture diagram to which some embodiments of the present application may be applied;
FIG. 2 is a flow chart of one embodiment of a parking method for an autonomous vehicle according to the present application;
FIG. 3 is a schematic diagram of one application scenario of a parking method for an autonomous vehicle according to the present application;
FIG. 4 is a flow chart of yet another embodiment of a parking method for an autonomous vehicle according to the present application;
FIG. 5 is a schematic diagram of an embodiment of a parking apparatus for an autonomous vehicle according to the present application;
FIG. 6 is a schematic block diagram of a computer system suitable for use in implementing an electronic device according to some embodiments of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows an exemplary system architecture 100 to which embodiments of the data processing method for an autonomous vehicle or the data processing device for an autonomous vehicle of the present application may be applied.
As shown in fig. 1, the system architecture 100 may include an in-vehicle system (i.e., in-vehicle brain or in-vehicle computer) 101, a network 102, and a server 103. The network 102 is used to provide a medium for a communication link between the in-vehicle system 101 and the server 103. Network 102 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The user may use the in-vehicle system 101 to interact with the server 103 via the network 102 to receive or send messages or the like. Various communication client applications may be installed on the in-vehicle system 101.
The server 103 may be a server that provides various services, such as a background server that provides support for the in-vehicle system 101. The background server may analyze and otherwise process data such as actual acceleration of the autonomous vehicle, and feed back a processing result (e.g., generation and output of a travel instruction) to the in-vehicle system.
It should be noted that the data processing method for the autonomous vehicle provided by the embodiment of the present application may be executed by the vehicle-mounted system 101, and accordingly, the data processing apparatus for the autonomous vehicle may be provided in the vehicle-mounted system 101.
It should be understood that the number of on-board systems, networks, and servers in FIG. 1 is merely illustrative. There may be any number of on-board systems, networks, and servers, as desired for implementation.
With continued reference to FIG. 2, a flow 200 of one embodiment of a parking method for an autonomous vehicle according to the present application is shown. The parking method for the autonomous vehicle includes the steps of:
in step 201, in response to determining that the driving state of the autonomous vehicle meets the preset parking condition, the following parking control steps are performed.
In this embodiment, an execution main body (for example, an in-vehicle brain shown in fig. 1) of the parking method for the autonomous vehicle may determine whether the autonomous vehicle meets a preset parking condition, and if it is determined that the running state of the autonomous vehicle meets the preset parking condition, the execution main body may execute parking control steps (for example, steps 202 to 204). In practice, the preset parking condition may be various conditions that are preset for the running state of the autonomous vehicle. The running state of the autonomous vehicle refers to a state of the autonomous vehicle during running. For example, the driving state may be a distance from a target parking position, and accordingly, the driving state meeting the preset parking condition may be that the distance from the autonomous vehicle to the target parking position, that is, a parking spot, is less than the preset distance. The running state of the autonomous vehicle may be changed along with the running of the autonomous vehicle.
In some optional implementations of this embodiment, step 201 may include: executing the following parking control steps in response to a judgment that the driving state of the autonomous vehicle conforms to each preset parking condition at a plurality of consecutive preset periods; wherein, each preset parking condition comprises at least two of the following items: the distance between the automatic driving vehicle and the target parking position is smaller than a first preset distance; the current speed of the automatic driving vehicle is less than a first preset speed; the current reference acceleration of the automatic driving vehicle is smaller than a preset acceleration threshold value; and the method further comprises: and stopping executing the parking control step in response to judging that the running state of the autonomous vehicle does not conform to any one or more of the preset parking conditions in a plurality of continuous preset periods.
In these alternative implementations, the preset parking condition may include each of at least two preset parking conditions if the autonomous vehicle is relatively close to the target parking position. The executing body may execute the parking control step in a case where a running state of the autonomous vehicle meets each preset parking condition. The preset cycle is a cycle of the above-described execution subject's acquisition and calculation, such as a cycle of calculating acceleration, speed, and the like of the vehicle, and the above-described execution subject may determine, at each cycle, whether the autonomous vehicle meets each preset parking condition. The executing body executes the parking control step, namely, enters a parking logic, and then, if the executing body detects that the autonomous vehicle does not accord with any one or more preset parking conditions in a plurality of continuous cycles, the executing body can exit the parking logic, namely, stops executing the parking control step.
Specifically, the executing body may execute the parking control step in a case where it is determined that the distance between the autonomous vehicle and the target parking position is small, the speed of the autonomous vehicle is small, and the reference acceleration of the autonomous vehicle is small. The reference acceleration, that is, the preview acceleration, is an acceleration for reference determined by the execution main body according to a preset rule, and the reference acceleration corresponds to a reference line. The reference line is generated by the execution main body (or the server in fig. 1) based on the road information segment. For example, the reference line may be a center line of the lane. The reference line or the smoothed result of the reference line can be used to plan a travel path, i.e., a travel track, of the vehicle.
In these implementations, the executing agent may execute the parking control step only when it is determined in a plurality of consecutive preset periods that the autonomous vehicle meets each of the preset parking conditions, thereby avoiding instruction confusion caused by frequent switching between determining whether to park and then executing the parking control step. In addition, the execution main body can comprehensively judge whether to stop according to the distance, the speed and the acceleration, so that the judgment result is more accurate.
In some optional application scenarios of these implementations, the parking control step may further include: in response to determining that the distance between the autonomous vehicle and the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of the braking force.
In these optional application scenarios, if the execution subject determines that the autonomous vehicle is close to the target parking position, that is, the distance between the autonomous vehicle and the target parking position is less than the second preset distance, and the execution subject determines that the current speed of the autonomous vehicle is less than the second preset speed, the execution subject may determine, based on the acceleration determined in the previous preset period, an acceleration to be applied by the autonomous vehicle in the current preset period, that is, the second acceleration to be applied.
In practice, the execution body described above may determine, in various ways, the second acceleration to be adopted by the autonomous vehicle in the current preset period, based on the acceleration to be adopted determined in the last preset period. For example, the executing entity may input the acceleration to be used determined in the previous preset period into a preset function or model, so as to obtain the second acceleration to be used determined in the current preset period. The function or model may be used to characterize the correspondence between the acceleration determined in the previous preset period to be used and the second acceleration to be used in the current preset period.
These application scenarios may be based on the acceleration to be used determined in the last preset period, thereby improving the accuracy of determining the acceleration to be used by the autonomous vehicle, depending on the acceleration already used.
Optionally, the determining, in the application scenario, the second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period may include: in response to the fact that the acceleration determined in the last preset period and to be adopted is determined to be in one of at least two preset value ranges, determining a preset increasing value corresponding to the one preset value range, wherein the preset increasing value is the product of a preset multiple corresponding to the one preset value range and a specified value; and determining the sum of the preset increment value and the acceleration to be adopted determined in the last preset period as a second acceleration to be adopted, wherein in at least two preset value ranges, the preset increment value corresponding to the preset value range with a larger value is smaller than the preset increment value corresponding to the preset value range with a smaller value.
Specifically, the executing body may set at least two preset value ranges for the acceleration to be adopted determined in the last preset period. Different preset value ranges correspond to different preset added values, so that if the acceleration to be adopted determined in the last preset period is in different preset value ranges, the corresponding preset added values are different. The preset increase value is a value to be increased from the acceleration to be adopted determined in the last preset period to the second acceleration to be adopted in the current preset period. In this application scenario, the executing entity may continue to increase the braking force (i.e., increase the acceleration to be applied by the autonomous vehicle) until the vehicle comes to a full stop or the braking force increases to a preset maximum braking force value.
For example, the predetermined period is 1 second, and if the acceleration to be applied is determined to be-0.15 m/s within the last 1 second2The predetermined value range of the acceleration is 0 to-0.2 m/s2The preset increment value corresponding to the range is-0.25 m/s2. The preset multiple corresponding to the preset value range is 5, and the preset multiple 5 is multiplied by the appointed value-0.05 m/s2Obtaining the above-mentioned predetermined increase value of-0.25 m/s2Then the second acceleration to be applied determined in the current 1 second is-0.15 m/s2+(-0.25m/s2). If the acceleration to be applied determined in the last 1 second is-0.35 m/s2The preset value range of the acceleration is-0.2 m/s2To-0.4 m/s2The preset increment value corresponding to the range is-0.2 m/s2. The preset multiple corresponding to the preset value range is 4, and the preset multiple 4 is multiplied by the appointed value-0.05 m/s2Obtaining the above-mentioned predetermined increase value of-0.2 m/s2Then the second acceleration to be applied determined in the current 1 second is-0.35 m/s2+(-0.2m/s2). The minus sign here indicates that the direction of acceleration is the direction of braking force.
In the present application, an increase in acceleration means an increase in the absolute value of acceleration, regardless of whether the direction of acceleration is the direction of traction force or the direction of braking force.
In the application scenes, under the condition that the acceleration adopted by the automatic driving vehicle is small, the vehicle is stopped in time by adopting larger acceleration and braking force.
In step 202, a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods is determined.
In the present embodiment, the execution subject may determine a variance of an actual acceleration of the autonomous vehicle. Specifically, the actual acceleration may include a historical actual acceleration of the autonomous vehicle, and may also include a current actual acceleration of the autonomous vehicle. The actual acceleration refers to the true acceleration of the autonomous vehicle. Generally, the execution subject described above may employ a plurality of actual accelerations that are continuously detected (at a plurality of preset periods that are continuous) for the autonomous vehicle. Generally, each predetermined period corresponds to an actual acceleration.
In step 203, a first acceleration to be employed by the autonomous vehicle is determined based on a variance of the plurality of actual accelerations.
In the present embodiment, the executing body may determine the acceleration to be adopted by the autonomous vehicle, that is, the first acceleration to be adopted, based on the determined variance. Specifically, each preset period may adopt an acceleration, and the adopted acceleration is issued by the execution main body, and may have a deviation from the actual acceleration. The first acceleration to be employed determined here may be an acceleration to be employed in a preset future period of time, and may be, for example, an acceleration to be employed in the next preset cycle.
In practice, the execution body described above may determine the acceleration to be employed based on the variance in various ways. For example, the execution subject may input the variance into a preset model, and obtain an acceleration to be used output from the preset model. The preset model is used for representing the corresponding relation between the variance of a plurality of actual accelerations and the acceleration to be adopted.
In some optional implementations of this embodiment, step 203 may include: in response to determining that the variance of the plurality of actual accelerations is not below the preset variance threshold, a first acceleration to be employed by the autonomous vehicle is determined based on a deviation of a current position of the autonomous vehicle from a planned position.
In these alternative implementations, the execution body may determine whether the variance is small, i.e., below a preset variance threshold. If the variance is not small, the acceleration value is not credible, and the executing body can stop in a position tracking mode. Specifically, the executing agent may determine the first acceleration to be employed based on a deviation of a position between a current position of the autonomous vehicle and a planned position. The planned position, i.e., the home position, is a position in the planned path planned by the reference line. The time corresponding to the current position and the planned position involved in determining the deviation is the current time, that is, the planned position is the position planned for the current time in the planned path.
In practice, the executing entity may determine the first acceleration to be employed based on the deviation (the deviation of the current position from the planned position) in various ways. For example, the execution subject may acquire a correspondence relationship between the deviation and the first acceleration to be adopted, and directly search for the first acceleration to be adopted corresponding to the deviation of the autonomous vehicle.
These implementations may determine, based on the location, a first acceleration to be employed by the autonomous vehicle in a case where the obtained actual acceleration is not authentic, thereby avoiding that the determined first acceleration to be employed is inappropriate due to data corruption of the actual acceleration.
In some optional application scenarios of these implementations, determining an acceleration to be employed by the autonomous vehicle based on a deviation of the current position of the autonomous vehicle from the planned position in these implementations may include: determining a deviation of a current position of the autonomous vehicle from the planned position as a first deviation; determining a speed difference value between the current speed and a reference speed of the automatic driving vehicle, and determining a position deviation caused by the speed difference value in a preset period; a sum of the first deviation and the positional deviation is determined and input to a designated controller, resulting in a first acceleration to be applied by the autonomous vehicle.
In these alternative application scenarios, the current position and current speed refer to the actual position and speed of the autonomous vehicle. The first deviation and the deviation between the positions in the positional deviation herein may refer to a distance between the positions. Specifically, the reference speed may refer to a speed for reference obtained using a preset determination rule, corresponding to a reference line. The positional deviation may be a product of the above-described speed difference value and a time corresponding to a preset period.
In practice, the above-mentioned specified controller may be a Proportional Integral Derivative (PID) controller or a Proportional Integral (PI) controller. After the executing body inputs the sum of the first deviation and the position deviation into the designated controller, the executing body can obtain the acceleration output by the designated controller, namely the first acceleration to be adopted by the automatic driving vehicle.
These implementations may utilize the positional deviation and the designated control to accurately determine the first acceleration that the autonomous vehicle will employ.
In step 204, a travel command is generated and output based on the first acceleration to be employed.
In the present embodiment, the execution subject described above may generate a travel instruction based on the determined first acceleration to be employed and output the travel instruction. Specifically, the execution body may generate the travel instruction in various ways. For example, the executing body may directly output the running instruction including the first acceleration to be adopted, and the executing body may determine a difference between the current actual acceleration and the first acceleration to be adopted, and increase the acceleration of the autonomous vehicle from the current actual acceleration to the acceleration to be adopted using a gradient change (an increasing or decreasing change), the value of the changed acceleration being the difference. Thus, the outputted travel command is a command indicating a change in acceleration gradient. In this case, the direction of the first acceleration to be employed is the direction of the braking force. For another example, the execution main body may add the difference to the previous travel command for controlling the acceleration, thereby generating a travel command indicating the acceleration to be adopted.
In the solution provided in this embodiment, the variance of the acquired actual acceleration may indicate the credibility of the acquired actual acceleration, so that based on the credibility, an appropriate parking strategy may be determined to obtain an appropriate acceleration to be used for parking. Therefore, the present embodiment helps to avoid the problems of the determined first acceleration to be adopted being inappropriate and the smoothness being low due to the acquired actual acceleration being not trusted, thereby avoiding the problem of causing passenger frustration.
In some optional implementations of this embodiment, step 201 may include: in response to the judgment that the autonomous vehicle meets the preset parking condition, determining a third acceleration to be adopted by the autonomous vehicle by using a preset acceleration determination rule, and judging whether the third acceleration to be adopted is more than a preset emergency brake acceleration value, wherein the direction of the third acceleration to be adopted is the direction of braking force; if the third acceleration to be adopted is not above the emergency brake acceleration value, executing a parking control step; and if the third acceleration to be adopted is higher than the emergency brake acceleration value, outputting a command comprising the emergency brake acceleration value.
In these optional implementations, the execution subject may determine, by using a preset acceleration determination rule, an acceleration to be adopted by the autonomous vehicle, that is, a third acceleration to be adopted, in a case where it is determined that the autonomous vehicle meets a preset parking condition. There may be a difference in the value of the third acceleration to be used and the first acceleration to be used determined in step 203. Specifically, the preset acceleration determination rule may be an acceleration determination rule employed by the autonomous vehicle when the general driving phase of the parking logic is not entered. The hard brake acceleration value is the acceleration value used during hard braking defined for an autonomous vehicle.
In addition, if the acceleration determined by the implementation manners to be used is greater than or equal to the sudden braking acceleration, that is, the determined braking force is very large, the execution main body may directly use the sudden braking acceleration value as the acceleration and issue the sudden braking acceleration value to the vehicle chassis.
These implementations can set an upper limit of acceleration for the braking force that does not cause damage to the vehicle body and possibly passengers, thereby avoiding the problem of excessive braking force being output. And under the condition of higher determined acceleration, emergency stop is carried out by adopting an emergency stop strategy, so that the problem of traffic accidents caused by untimely braking of the vehicle is avoided.
In some optional implementations of this embodiment, the parking control step may further include: in response to determining that the distance of the autonomous vehicle from the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle based on a change value of the acceleration already applied by the autonomous vehicle per unit time, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of the braking force.
In some alternative implementations of this embodiment, the direction of the first acceleration to be employed by the autonomous vehicle is the direction of the braking force; the parking control step may further include: in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a first braking force of the autonomous vehicle; in response to determining that the autonomous vehicle is currently downhill, a first braking force of the autonomous vehicle is increased.
In these alternative implementations, the execution body may perform slope compensation for the first acceleration to be employed. During the uphill driving of the autonomous vehicle, the acceleration, i.e. the braking force, is increased. And during the downhill of the autonomous vehicle, the acceleration, that is, the braking force, is reduced. Therefore, the situation that the automatic driving vehicle slides can be effectively avoided.
In practice, the gradient compensation may also be performed for the second acceleration to be applied, that is, the parking control step described above may further include: in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a second acceleration to be employed by the autonomous vehicle; in response to determining that the autonomous vehicle is currently downhill, a second acceleration to be employed by the autonomous vehicle is increased.
With continued reference to fig. 3, fig. 3 is a schematic view of an application scenario of the parking method for an autonomous vehicle according to the present embodiment. In the application scenario of fig. 3, the executing entity 301 may execute the following parking control steps in response to determining that the driving state of the autonomous vehicle complies with the preset parking condition: a variance 302 of historical acceleration of the autonomous vehicle over a plurality of consecutive preset periods is determined. Based on the above variance 302, the acceleration 303 to be employed by the autonomous vehicle is determined. Based on the first acceleration 303 to be employed, a travel instruction 304 is generated and output.
With further reference to fig. 4, a flow 400 of yet another embodiment of a parking method for an autonomous vehicle is shown. The process 400 of the parking method for an autonomous vehicle comprises the steps of:
in response to determining that the driving state of the autonomous vehicle meets the preset parking condition, step 401, performs the following parking control steps.
In this embodiment, an execution main body (for example, an in-vehicle brain shown in fig. 1) of the parking method for the autonomous vehicle may determine whether the autonomous vehicle meets a preset parking condition, and if it is determined that the driving state of the autonomous vehicle meets the preset parking condition, the execution main body may execute parking control steps (for example, steps 402 to 404). In practice, the preset parking condition may be various conditions that are preset for the running state of the autonomous vehicle. The running state of the autonomous vehicle refers to a state of the autonomous vehicle during running.
In step 402, a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods is determined.
In the present embodiment, the execution subject may determine a variance of an actual acceleration of the autonomous vehicle. Specifically, the actual acceleration may include a historical actual acceleration of the autonomous vehicle, and may also include a current actual acceleration of the autonomous vehicle. The actual acceleration refers to the true acceleration of the autonomous vehicle. Generally, the execution subject described above may employ a plurality of actual accelerations that are continuously detected (at a plurality of preset periods that are continuous) for the autonomous vehicle.
In response to determining that the variance of the plurality of actual accelerations is not below the preset variance threshold, a first acceleration to be employed by the autonomous vehicle is determined based on a deviation of the current position of the autonomous vehicle from the planned position, step 403.
In this embodiment, the execution subject may determine whether the variance is small, i.e., below a preset variance threshold. The smaller variance indicates that the value of the acceleration is more reliable, and the executing body may perform parking in an acceleration tracking manner, that is, on the basis of the current actual acceleration, the gradient increases the difference between the acceleration to be used and the current actual acceleration. Specifically, the execution subject may determine a first acceleration to be adopted by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance of the autonomous vehicle from a target parking position.
The executing body may instruct the acceleration of the autonomous vehicle to be gradually increased from the current actual acceleration to the first acceleration to be adopted determined by the parking control step. Specifically, the gradient increase refers to a stepwise increase, which may be a constant increase or a non-constant increase. For example, the specified value to be increased is 6, and may be increased in three increments, each increment being 2, or in 2 increments, each increment being 2.5 and 1.5.
In practice, the execution body described above may determine the first acceleration to be taken by the vehicle based on the current speed and distance in various ways. For example, the executing body may obtain a corresponding relationship between a preset current speed and a preset distance and a first acceleration to be adopted, so that the corresponding first acceleration to be adopted is directly determined in the corresponding relationship according to the current speed and the distance.
In some optional implementations of this embodiment, the direction of the first acceleration to be employed is a direction of the braking force; determining the acceleration to be employed by the autonomous vehicle based on the current speed of the autonomous vehicle and the distance from the target parking location in step 403 may include: determining a delay time of braking of a braking device of the autonomous vehicle; determining the speed of the automatic driving vehicle and the distance between the automatic driving vehicle and the target parking position after the delay time, wherein the speed and the distance are respectively the target speed and the target distance; a first acceleration to be employed by the autonomous vehicle is determined based on a ratio between a square of the target speed and the target distance.
In these alternative implementations, the sum of the pressure-increasing time and the pressure-decreasing time of the brake device of the autonomous vehicle is the above-described delay time. The executing body may determine the first acceleration to be adopted based on the ratio in various ways, for example, the executing body may perform a preset process on the ratio, for example, multiply the ratio by a preset coefficient, so as to obtain the first acceleration to be adopted. Further, the executing body described above may determine the first acceleration to be employed based on a ratio between the square of the target speed and twice the target distance.
In practice, it is possible to set the current speed of the autonomous vehicle as v and the speed of the autonomous vehicle after a delay time as v + at, where a is the current acceleration of the vehicle and the direction of a is the same as the direction of the braking force. The distance from the current distance of the automatic driving vehicle to the target parking position is s, and the distance from the automatic driving vehicle to the target parking position after the delay time is s-vt-0.5at2. First acceleration a to be applieddIs given by the general formula ad＝v22s, the formula for the first acceleration to be used after the delay may be:
Figure BDA0002398461360000171
a in the formuladThe opposite numbers are used to indicate that the direction of the first acceleration to be used is the same as the direction of the braking force. Further, determining the second acceleration to be applied as described above may also utilize this equation.
In step 404, a travel command is generated that indicates that the acceleration of the autonomous vehicle is to be incremented from the current actual acceleration to a first acceleration to be applied.
In the present embodiment, the execution subject described above may generate a travel instruction based on the determined first acceleration to be employed and output the travel instruction. Specifically, the running instruction instructs the acceleration of the autonomous vehicle to change from the current actual acceleration gradient by a specified value that is a difference between the first acceleration to be adopted determined by the parking control step and the current actual acceleration.
The present embodiment can accurately estimate the acceleration to be employed based on the speed of the vehicle and the distance from the parking position in the case where the value of the actual acceleration is relatively authentic.
With further reference to fig. 5, as an implementation of the methods shown in the above figures, the present application provides an embodiment of a parking apparatus for an autonomous vehicle, which corresponds to the embodiment of the method shown in fig. 2, and which may include the same or corresponding features or effects as the embodiment of the method shown in fig. 2, in addition to the features described below. The device can be applied to various electronic equipment.
As shown in fig. 5, the parking apparatus 500 for an autonomous vehicle of the present embodiment includes: a judgment unit 501 and a parking control unit 502. Wherein the determining unit 501 is configured to determine whether the autonomous vehicle meets a preset parking condition; a parking control unit 502 configured to, in response to a determination that the running state of the autonomous vehicle meets a preset parking condition, execute the following parking control steps: determining a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods; determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations; based on the first acceleration to be employed, a travel instruction is generated and output.
In this embodiment, specific processes of the determination unit 501 and the parking control unit 502 of the parking apparatus 500 for automatically driving a vehicle and technical effects thereof can refer to related descriptions of step 201, step 202, step 203 and step 204 in the corresponding embodiment of fig. 2, which are not repeated herein.
In some optional implementations of the embodiment, the parking control unit is further configured to perform determining the first acceleration to be taken by the autonomous vehicle based on a variance of the plurality of actual accelerations as follows: determining a first acceleration to be employed by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance from the target parking location in response to determining that the variance is below a preset variance threshold; and a parking control unit further configured to execute generating and outputting a travel instruction based on the first acceleration to be employed, as follows: a travel instruction is generated for instructing the autonomous vehicle to increase the acceleration from the current actual acceleration to a first acceleration to be applied.
In some optional implementations of this embodiment, the direction of the first acceleration to be employed is a direction of the braking force; a parking control unit further configured to perform determining a first acceleration to be taken by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance to the target parking position as follows: determining a delay time of braking of a braking device of the autonomous vehicle; determining the speed of the automatic driving vehicle and the distance between the automatic driving vehicle and the target parking position after the delay time, wherein the speed and the distance are respectively the target speed and the target distance; a first acceleration to be employed by the autonomous vehicle is determined based on a ratio between a square of the target speed and the target distance.
In some optional implementations of the embodiment, the parking control unit is further configured to perform determining the first acceleration to be taken by the autonomous vehicle based on a variance of the plurality of actual accelerations as follows: in response to determining that the variance of the plurality of actual accelerations is not below the preset variance threshold, a first acceleration to be employed by the autonomous vehicle is determined based on a deviation of a current position of the autonomous vehicle from a planned position.
In some optional implementations of the embodiment, the parking control unit is further configured to perform determining the first acceleration to be taken by the autonomous vehicle based on a deviation of a current position of the autonomous vehicle from a planned position as follows: determining a deviation of a current position of the autonomous vehicle from the planned position as a first deviation; determining a speed difference value between the current speed and a reference speed of the automatic driving vehicle, and determining a position deviation caused by the speed difference value in a preset period; a sum of the first deviation and the positional deviation is determined and input to a designated controller, resulting in a first acceleration to be applied by the autonomous vehicle.
In some optional implementations of the embodiment, the parking control unit is further configured to perform the following parking control steps in response to determining that the running state of the autonomous vehicle meets the preset parking condition: in response to the fact that the running state of the automatic driving vehicle is judged to accord with each preset parking condition in a plurality of continuous preset periods, executing the following parking control steps; wherein, each preset parking condition comprises at least two of the following items: the distance between the parking device and the target parking position is smaller than a first preset distance; the current speed is less than a first preset speed; the current reference acceleration is smaller than a preset acceleration threshold; and the apparatus further comprises: and an exit unit configured to stop executing the parking control step in response to determining that the running state of the autonomous vehicle does not comply with any one or more of the preset parking conditions for a plurality of consecutive preset periods.
In some optional implementations of this embodiment, the parking control step further includes: in response to determining that the distance between the autonomous vehicle and the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of the braking force.
In some optional implementations of the embodiment, the determining, in the parking control step, a second acceleration to be taken by the autonomous vehicle at a current preset period based on the acceleration to be taken determined at the last preset period includes: in response to the fact that the acceleration determined in the last preset period and to be adopted is determined to be in one of at least two preset value ranges, determining a preset increasing value corresponding to the one preset value range, wherein the preset increasing value is the product of a preset multiple corresponding to the one preset value range and a specified value; and determining the sum of the preset increment value and the acceleration to be adopted determined in the last preset period as a second acceleration to be adopted, wherein in at least two preset value ranges, the preset increment value corresponding to the preset value range with a larger value is smaller than the preset increment value corresponding to the preset value range with a smaller value.
In some optional implementations of the embodiment, the parking control unit is further configured to perform the following parking control steps in response to determining that the running state of the autonomous vehicle meets the preset parking condition: in response to the judgment that the autonomous vehicle meets the preset parking condition, determining a third acceleration to be adopted by the autonomous vehicle by using a preset acceleration determination rule, and judging whether the third acceleration to be adopted is more than a preset emergency brake acceleration value, wherein the direction of the third acceleration to be adopted is the direction of braking force; if the third acceleration to be adopted is not above the emergency brake acceleration value, executing a parking control step; and if the third acceleration to be adopted is higher than the emergency brake acceleration value, outputting a command comprising the emergency brake acceleration value.
In some alternative implementations of this embodiment, the direction of the first acceleration to be employed by the autonomous vehicle is the direction of the braking force; the parking control step further comprises: in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a first acceleration to be employed by the autonomous vehicle; in response to determining that the autonomous vehicle is currently downhill, a first acceleration to be employed by the autonomous vehicle is increased.
As shown in fig. 6, electronic device 600 may include a processing means (e.g., central processing unit, graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device 600 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 6 may represent one device or may represent multiple devices as desired.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 609, or may be installed from the storage means 608, or may be installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of embodiments of the present disclosure. It should be noted that the computer readable medium of the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a determination unit and a parking control unit. The names of these units do not in some cases constitute a limitation on the unit itself, and for example, the determination unit may also be described as a "unit that determines whether the autonomous vehicle meets the preset parking condition".
As another aspect, the present application also provides a computer-readable medium, which may be contained in the apparatus described in the above embodiments; or may be present separately and not assembled into the device. The computer readable medium carries one or more programs which, when executed by the apparatus, cause the apparatus to: in response to determining that the driving state of the autonomous vehicle meets a preset parking condition, performing the following parking control steps: determining a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods; determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations; based on the first acceleration to be employed, a travel instruction is generated and output.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims (22)

1. A parking method for an autonomous vehicle, the method comprising:
in response to determining that the driving state of the autonomous vehicle meets a preset parking condition, performing the following parking control steps:
determining a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods;
determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations;
and generating and outputting a running instruction based on the first acceleration to be adopted.
2. The method of claim 1, wherein said determining a first acceleration to be assumed by the autonomous vehicle based on the variance of the plurality of actual accelerations comprises: in response to determining that the variance is below a preset variance threshold, determining a first acceleration to be assumed by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance from a target parking location; and
the generating and outputting a travel instruction based on the first acceleration to be adopted includes: generating a travel command instructing the autonomous vehicle to increase the acceleration from the current actual acceleration to the first acceleration to be applied.
3. The method of claim 2, wherein the direction of the first acceleration to be employed is a direction of a braking force; the determining a first acceleration to be employed by the autonomous vehicle based on the current speed of the autonomous vehicle and the distance from the target parking location comprises:
determining a delay time of braking of a braking device of the autonomous vehicle;
determining a speed of the autonomous vehicle and a distance to the target parking position after the delay time elapses, as a target speed and a target distance, respectively;
determining a first acceleration to be employed by the autonomous vehicle based on a ratio between a square of the target speed and the target distance.
4. The method of any of claims 1-3, wherein the determining a first acceleration to be assumed by the autonomous vehicle based on the variance of the plurality of actual accelerations comprises:
in response to determining that the variance of the plurality of actual accelerations is not below a preset variance threshold, determining a first acceleration to be assumed by the autonomous vehicle based on a deviation of a current position of the autonomous vehicle from a planned position.
5. The method of claim 4, wherein the determining a first acceleration to be employed by the autonomous vehicle based on a deviation of a current location of the autonomous vehicle from a planned location comprises:
determining a deviation of the current position of the autonomous vehicle from the planned position as a first deviation;
determining a speed difference value between the current speed and a reference speed of the automatic driving vehicle, and determining a position deviation caused by the speed difference value in a preset period;
a sum of the first deviation and the positional deviation is determined and input to a designated controller resulting in a first acceleration to be applied by the autonomous vehicle.
6. The method according to any one of claims 1-3, wherein said in response to determining that the autonomous vehicle meets a preset parking condition, performing the following parking control steps comprises:
in response to determining that the driving state of the autonomous vehicle conforms to preset parking conditions in a plurality of consecutive preset periods, performing the following parking control steps, wherein the preset parking conditions include at least two of: the distance between the parking device and the target parking position is smaller than a first preset distance; the current speed is less than a first preset speed; the current reference acceleration is smaller than a preset acceleration threshold; and
the method further comprises the following steps:
and stopping executing the parking control step in response to judging that the running state of the autonomous vehicle does not conform to any one or more of the preset parking conditions in a plurality of continuous preset periods.
7. The method of claim 6, wherein the parking control step further comprises:
in response to determining that the distance between the autonomous vehicle and the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of braking force.
8. The method of claim 7, wherein determining a second acceleration to be assumed by the autonomous vehicle at a current preset period based on the acceleration to be assumed determined at a last preset period comprises:
in response to determining that the acceleration to be adopted determined in the last preset period is within one preset numerical range of at least two preset numerical ranges, determining a preset increment value corresponding to the one preset numerical range, wherein the preset increment value is the product of a preset multiple corresponding to the one preset numerical range and a specified numerical value;
and determining the sum of the preset added value and the acceleration to be adopted determined in the last preset period as the second acceleration to be adopted, wherein in the at least two preset value ranges, the preset added value corresponding to the preset value range with a larger value is smaller than the preset added value corresponding to the preset value range with a smaller value.
9. The method according to any one of claims 1-3, wherein the following parking control step is performed in response to determining that the driving state of the autonomous vehicle meets a preset parking condition, including:
in response to the judgment that the autonomous vehicle meets the preset parking condition, determining a third acceleration to be adopted by the autonomous vehicle by using a preset acceleration determination rule, and judging whether the third acceleration to be adopted is more than a preset emergency brake acceleration value, wherein the direction of the third acceleration to be adopted is the direction of braking force;
if the third acceleration to be adopted is not more than the emergency brake acceleration value, executing the parking control step;
and if the third acceleration to be adopted is higher than the emergency brake acceleration value, outputting an instruction comprising the emergency brake acceleration value.
10. A method according to any of claims 1-3, wherein the direction of the first acceleration to be assumed is the direction of the braking force; the parking control step further includes:
in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a first acceleration that the autonomous vehicle will assume;
in response to determining that the autonomous vehicle is currently downhill, increasing a first acceleration that the autonomous vehicle will employ.
11. A parking apparatus for an autonomous vehicle, the apparatus comprising:
a determination unit configured to determine whether the autonomous vehicle meets a preset parking condition;
a parking control unit configured to perform the following parking control steps in response to a determination that a running state of the autonomous vehicle conforms to a preset parking condition: determining a variance of a plurality of actual accelerations of the autonomous vehicle over a plurality of consecutive preset periods; determining a first acceleration to be employed by the autonomous vehicle based on a variance of the plurality of actual accelerations; and generating and outputting a running instruction based on the first acceleration to be adopted.
12. The apparatus of claim 11, wherein the parking control unit is further configured to perform determining a first acceleration to be employed by the autonomous vehicle based on the variance of the plurality of actual accelerations as follows:
in response to determining that the variance is below a preset variance threshold, determining a first acceleration to be assumed by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance from a target parking location; and
the parking control unit is further configured to execute the generating and outputting of a travel instruction based on the first acceleration to be adopted as follows: generating a travel command instructing the autonomous vehicle to increase the acceleration from the current actual acceleration to the first acceleration to be applied.
13. The apparatus of claim 12, wherein the direction of the first acceleration to be employed is a direction of a braking force; the parking control unit is further configured to perform determining a first acceleration to be taken by the autonomous vehicle based on a current speed of the autonomous vehicle and a distance to a target parking position as follows:
determining a delay time of braking of a braking device of the autonomous vehicle;
determining a speed of the autonomous vehicle and a distance to the target parking position after the delay time elapses, as a target speed and a target distance, respectively;
determining a first acceleration to be employed by the autonomous vehicle based on a ratio between a square of the target speed and the target distance.
14. The apparatus of any of claims 11-13, wherein the parking control unit is further configured to perform the determining a first acceleration to be employed by the autonomous vehicle based on the variance of the plurality of actual accelerations as follows:
in response to determining that the variance of the plurality of actual accelerations is not below a preset variance threshold, determining a first acceleration to be assumed by the autonomous vehicle based on a deviation of a current position of the autonomous vehicle from a planned position.
15. The apparatus of claim 14, wherein the parking control unit is further configured to perform the determining a first acceleration to be employed by the autonomous vehicle based on a deviation of a current location of the autonomous vehicle from a planned location as follows:
determining a deviation of the current position of the autonomous vehicle from the planned position as a first deviation;
determining a speed difference value between the current speed and a reference speed of the automatic driving vehicle, and determining a position deviation caused by the speed difference value in a preset period;
a sum of the first deviation and the positional deviation is determined and input to a designated controller resulting in a first acceleration to be applied by the autonomous vehicle.
16. The apparatus according to any one of claims 11-13, wherein the parking control unit is further configured to perform the following parking control steps in response to determining that the running state of the autonomous vehicle meets a preset parking condition:
in response to the fact that the running state of the automatic driving vehicle is judged to accord with each preset parking condition in a plurality of continuous preset periods, executing the following parking control steps;
wherein the preset parking conditions include at least two of the following conditions: the distance between the parking device and the target parking position is smaller than a first preset distance; the current speed is less than a first preset speed; the current reference acceleration is smaller than a preset acceleration threshold; and
the device further comprises:
an exit unit configured to stop executing the parking control step in response to determining that the running state of the autonomous vehicle does not comply with any one or more of the preset parking conditions for a plurality of consecutive preset periods.
17. The apparatus of claim 16, wherein the parking control step further comprises:
in response to determining that the distance between the autonomous vehicle and the target parking position is less than a second preset distance and the current speed is less than a second preset speed, determining a second acceleration to be applied by the autonomous vehicle in the current preset period based on the acceleration to be applied determined in the last preset period, wherein the second preset distance is less than the first preset distance, the second preset speed is less than the first preset speed, and the direction of the second acceleration to be applied is the direction of braking force.
18. The apparatus according to claim 17, wherein the determining of the second acceleration to be adopted by the autonomous vehicle at the present preset period based on the acceleration to be adopted determined at the last preset period in the parking control step includes:
in response to determining that the acceleration to be adopted determined in the last preset period is within one preset numerical range of at least two preset numerical ranges, determining a preset increment value corresponding to the one preset numerical range, wherein the preset increment value is the product of a preset multiple corresponding to the one preset numerical range and a specified numerical value;
and determining the sum of the preset added value and the acceleration to be adopted determined in the last preset period as the second acceleration to be adopted, wherein in the at least two preset value ranges, the preset added value corresponding to the preset value range with a larger value is smaller than the preset added value corresponding to the preset value range with a smaller value.
19. The apparatus according to any one of claims 11-13, wherein the parking control unit is further configured to perform the following parking control steps in response to determining that the running state of the autonomous vehicle meets a preset parking condition:
in response to the judgment that the autonomous vehicle meets the preset parking condition, determining a third acceleration to be adopted by the autonomous vehicle by using a preset acceleration determination rule, and judging whether the third acceleration to be adopted is more than a preset emergency brake acceleration value, wherein the direction of the third acceleration to be adopted is the direction of braking force;
if the third acceleration to be adopted is not more than the emergency brake acceleration value, executing the parking control step;
and if the third acceleration to be adopted is higher than the emergency brake acceleration value, outputting an instruction comprising the emergency brake acceleration value.
20. The apparatus of any of claims 11-13, wherein a direction of a first acceleration to be employed by the autonomous vehicle is a direction of braking force; the parking control step further includes:
in response to determining that the autonomous vehicle is currently on an uphill slope, reducing a first acceleration that the autonomous vehicle will assume;
in response to determining that the autonomous vehicle is currently downhill, increasing a first acceleration that the autonomous vehicle will employ.
21. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-10.
22. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1-10.
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